Related papers: Hand Over or Place On The Table? A Study On Roboti…

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…

Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on…

With the recent advances in the field of deep learning, learning-based methods are widely being implemented in various robotic systems that help robots understand their environment and make informed decisions to achieve a wide variety of…

Handovers frequently occur in our social environments, making it imperative for a collaborative robotic system to master the skill of handover. In this work, we aim to investigate the relationship between the grip force variation for a…

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…

Affective interaction is not merely about recognizing emotions; it is an embodied, situated process shaped by context and co-created through interaction. In affective computing, the role of haptic feedback within dynamic emotional exchanges…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…

This paper introduces a modified self-organized task allocation algorithm, where robots are assigned to pick up one of the two types of object. This paper also demonstrates both algorithms by showing the simulation results of the…

Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to…

This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour…

Service robots are increasingly deployed in public spaces, performing functional tasks such as making deliveries. To better integrate them into our social environment and enhance their adoption, we consider integrating social identities…

This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…

Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…

We consider a service robot that offers chocolate treats to people passing in its proximity: it has the capability of predicting in advance a person's intention to interact, and to actuate an "offering" gesture, subtly extending the tray of…

Since cobots (collaborative robots) are increasingly being introduced in industrial environments, being aware of their potential positive and negative impacts on human collaborators is essential. This study guides occupational health…

Institutional and social barriers in higher education often prevent students with disabilities from effectively accessing support, including lengthy procedures, insufficient information, and high social-emotional demands. This study…

This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…

In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…

Tactile localization is the seemingly simple ability to 'tell' where a touch has occurred. However, how this ability is assessed, and what conclusions are drawn from experiments, depends on the theoretical ideas that inspire the research.…