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In recent years, there has been a significant amount of research on algorithms and control methods for distributed collaborative robots. However, the emergence of collective behavior in a swarm is still difficult to predict and control.…
Despite recent progress in general purpose robotics, robot policies still lag far behind basic human capabilities in the real world. Humans interact constantly with the physical world, yet this rich data resource remains largely untapped in…
Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…
Adhering to current HRI paradigms, all of the sensors, visualisation and legibility of actions and motions are borne by the robot or its working cell. This necessarily makes robots more complex or confines them into specialised, structured…
In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…
Learning multi-fingered robot policies from humans performing daily tasks in natural environments has long been a grand goal in the robotics community. Achieving this would mark significant progress toward generalizable robot manipulation…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
Mid-air gestures in Extended Reality (XR) often cause fatigue and imprecision. Surface-based interactions offer improved accuracy and comfort, but current egocentric vision methods struggle due to hand tracking challenges and unreliable…
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
To facilitate natural and intuitive interactions with diverse user groups in real-world settings, social robots must be capable of addressing the varying requirements and expectations of these groups while adapting their behavior based on…
Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…
With the widespread adoption of wearable devices in our daily lives, the demand and appeal for remote patient monitoring have significantly increased. Most research in this field has concentrated on collecting sensor data, visualizing it,…
Simultaneous localization and mapping (SLAM) techniques can be used to navigate the visually impaired, but the development of robust SLAM solutions for crowded spaces is limited by the lack of realistic datasets. To address this, we…
Humans naturally interact with both others and the surrounding multiple objects, engaging in various social activities. However, recent advances in modeling human-object interactions mostly focus on perceiving isolated individuals and…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
Human-robot interaction (HRI) research is progressively addressing multi-party scenarios, where a robot interacts with more than one human user at the same time. Conversely, research is still at an early stage for human-robot collaboration.…
Research has shown the complementarity of camera- and inertial-based data for modeling human activities, yet datasets with both egocentric video and inertial-based sensor data remain scarce. In this paper, we introduce WEAR, an outdoor…