相关论文: Human Robot Interface for Assistive Grasping

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 introduce BRIDGET, a novel human-in-the-loop system for hybrid decision-making, aiding the user to label records from an un-labeled dataset, attempting to ``bridge the gap'' between the two most popular Hybrid Decision-Making paradigms:…

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…

Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…

Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…

Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon…

We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…

Surgical robot automation has attracted increasing research interest over the past decade, expecting its potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied intelligence has demonstrated promising…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…

Advancing robotic grasping and manipulation requires the ability to test algorithms and/or train learning models on large numbers of grasps. Towards the goal of more advanced grasping, we present the Grasp Reset Mechanism (GRM), a fully…

This paper describes the development of a real-time Human-Robot Interaction (HRI) system for a service robot based on 3D human activity recognition and human-like decision mechanism. The Human-Robot Interactive (HRI) system, which allows…

Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a simulated robot communicates with its human partner through…

Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very…

Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…

Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…