相关论文: Passive Control Architecture for Virtual Humans

This paper presents a new method, based on a multi-agent system and on a digital mock-up technology, to assess an efficient path planner for a manikin or a robot for access and visibility task taking into account ergonomic constraints or…

In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…

We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the…

Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design of cyber-agents capable of co-operatively interacting with…

Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…

In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…

This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…

This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required…

This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…

We present a physics-based humanoid controller that achieves high-fidelity motion imitation and fault-tolerant behavior in the presence of noisy input (e.g. pose estimates from video or generated from language) and unexpected falls. Our…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

How can humans stay in control of advanced artificial intelligence systems? One proposal is corrigibility, which requires the agent to follow the instructions of a human overseer, without inappropriately influencing them. In this paper, we…

Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…

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…

Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…

Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…