Related papers: Hand Over or Place On The Table? A Study On Roboti…
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…
The kind of help a student receives during a task has been shown to play a significant role in their learning process. We designed an interaction scenario with a robotic tutor, in real-life settings based on an inquiry-based learning task.…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared control method, in which the robot navigates autonomously…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
The growing use of service robots in hospitality highlights the need to understand how to effectively communicate with pre-occupied customers. This study investigates the efficacy of commonly used communication modalities by service robots,…
This study investigates how text-driven object affordance, which provides prior knowledge about grasp types for each object, affects image-based grasp-type recognition in robot teaching. The researchers created labeled datasets of…
Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…
Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…
Task-oriented handovers (TOH) are fundamental to effective human-robot collaboration, requiring robots to present objects in a way that supports the human's intended post-handover use. Existing approaches are typically based on object- or…
Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties requires the use of scanned 3D object models or…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…
This study explores a pick-and-toss (PT) as an alternative to pick-and-place (PP), allowing a robot to extend its range and improve task efficiency. Although PT boosts efficiency in object arrangement, the placement environment critically…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
Interactive Machine Learning is concerned with creating systems that operate in environments alongside humans to achieve a task. A typical use is to extend or amplify the capabilities of a human in cognitive or physical ways, requiring the…