相关论文: The Control Theory of Motion-Based Communication: …

This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…

For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…

Recent protocols and metrics for training and evaluating autonomous robot navigation through crowds are inconsistent due to diversified definitions of "social behavior". This makes it difficult, if not impossible, to effectively compare…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

Energy efficiency is a key requirement in the design of wireless sensor networks. While most theoretical studies only account for the energy requirements of communication, the sensing process, which includes measurements and compression,…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

Coordinated human movement depends on the integration of multisensory inputs, sensorimotor transformation, and motor execution, as well as sensory feedback resulting from body-environment interaction. Building dynamic models of the…

We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…

Distance metric learning has attracted a lot of interest for solving machine learning and pattern recognition problems over the last decades. In this work we present a simple approach based on concepts from statistical physics to learn…

Motions carry information about the underlying task being executed. Previous work in human motion analysis suggests that complex motions may result from the composition of fundamental submovements called movemes. The existence of finite…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Language-capable robots hold unique persuasive power over humans, and thus can help regulate people's behavior and preserve a better moral ecosystem, by rejecting unethical commands and calling out norm violations. However, miscalibrated…

Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…

In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…

Existing music-driven 3D dance generation methods mainly concentrate on high-quality dance generation, but lack sufficient control during the generation process. To address these issues, we propose a unified framework capable of generating…

We are concerned with a novel sensor-based gesture input/instruction technology which enables human beings to interact with computers conveniently. The human being wears an emitter on the finger or holds a digital pen that generates a time…

The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…