Related papers: Multi-Sensor Fusion-Based Mobile Manipulator Remot…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Wheelchairs and robotic arms enhance independent living by assisting individuals with upper-body and mobility limitations in their activities of daily living (ADLs). Although recent advancements in assistive robotics have focused on…
Work-related upper extremity musculoskeletal disorders (WRUED) are a major problem in modern societies as they affect the quality of life of workers and lead to absenteeism and productivity loss. According to studies performed in North…
As robots become increasingly prevalent in both homes and industrial settings, the demand for intuitive and efficient human-machine interaction continues to rise. Gesture recognition offers an intuitive control method that does not require…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Cane-type robots have been utilized to assist and supervise the mobility-impaired population. One essential technique for cane-type robots is human following control, which allows the robot to follow the user. However, the limited…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Combined visual and force feedback play an essential role in contact-rich robotic manipulation tasks. Current methods focus on developing the feedback control around a single modality while underrating the synergy of the sensors. Fusing…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…
Efficient operation of intelligent machines in the real world requires methods that allow them to understand and predict the uncertainties presented by the unstructured environments with good accuracy, scalability and generalization,…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…