Related papers: Multi-Class Human/Object Detection on Robot Manipu…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Recent graph convolutional neural networks (GCNs) have shown high performance in the field of human action recognition by using human skeleton poses. However, it fails to detect human-object interaction cases successfully due to the lack of…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Social robots must adjust to human proxemic norms to ensure user comfort and engagement. While prior research demonstrates that eye-tracking features reliably estimate comfort in human-human interactions, their applicability to interactions…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
In this study, the influence of objects is investigated in the scenario of human action recognition with large number of classes. We hypothesize that the objects the humans are interacting will have good say in determining the action being…
Human-object interaction detection is an important and relatively new class of visual relationship detection tasks, essential for deeper scene understanding. Most existing approaches decompose the problem into object localization and…
Human-robot interaction benefits greatly from multimodal sensor inputs as they enable increased robustness and generalization accuracy. Despite this observation, few HRI methods are capable of efficiently performing inference for multimodal…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…
In this work, we propose two cost efficient methods for object identification, using a multi-fingered robotic hand equipped with proprioceptive sensing. Both methods are trained on known objects and rely on a limited set of features,…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
A robot performing multi-object grasping needs to sense the number of objects in the hand after grasping. The count plays an important role in determining the robot's next move and the outcome and efficiency of the whole pick-place process.…