Related papers: A Virtual Mechanical Interaction Layer Enables Res…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
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…
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 paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
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…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
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…
This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…
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…
Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…