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We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
In our daily lives, we can naturally convey instructions for the spatial manipulation of objects using words and gestures. Transposing this form of interaction into virtual reality (VR) object manipulation can be beneficial. We propose VR…
Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text…
Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
Robots that must operate in novel environments and collaborate with humans must be capable of acquiring new knowledge from human experts during operation. We propose teaching a robot novel objects it has not encountered before by pointing a…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to explicitly communicate robot intentions and goals. However, it…
Recent development in developing humanoid robot poses new challenges to human-machine interaction communication. A major challenge is to develop robots that can behave like and interact with human in the most natural way possible. This…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Hand guidance of robots has proven to be a useful tool both for programming trajectories and in kinesthetic teaching. However hand guidance is usually relegated to robots possessing joint-torque sensors (JTS). Here we propose to extend hand…
Augmented Reality is a promising technique for human-machine interaction. Especially in robotics, which always considers systems in their environment, it is highly beneficial to display visualizations and receive user input directly in…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
In this paper, we concern with the problem of how to automatically extract the steps that compose real-life hand activities. This is a key competence towards processing, monitoring and providing video guidance in Mixed Reality systems. We…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…