Related papers: HoloSpot: Intuitive Object Manipulation via Mixed …
We contribute interaction techniques for augmenting mixed reality (MR) visualizations with smartphone proxies. By combining head-mounted displays (HMDs) with mobile touchscreens, we can augment low-resolution holographic 3D charts with…
Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…
Mixed reality systems support shared anchors and co-located interaction, yet they lack a socially legible protocol for entering another person's mixed reality in public settings. We frame this as a protocol problem: co-located MR sharing…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…
Nowadays, autonomous mobile robots support people in many areas where human presence either redundant or too dangerous. They have successfully proven themselves in expeditions, gas industry, mines, warehouses, etc. However, even legged…
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…
The control of a robot for manipulation tasks generally relies on object detection and pose estimation. An attractive alternative is to learn control policies directly from raw input data. However, this approach is time-consuming and…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…