相关论文: General Hand Guidance Framework using Microsoft Ho…

Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…

We present an exploratory case study describing the design and realisation of a ''pure mixed reality'' application in a museum setting, where we investigate the potential of using Microsoft's HoloLens for object-centred museum mediation.…

In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…

Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…

Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…

This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…

The demand for mobile robots has rapidly increased in recent years due to the flexibility and high variety of application fields comparing to static robots. To deal with complex tasks such as navigation, they work with high amounts of…

Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human…

Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the surface of robot arms, these sensors are not yet robust or…

Hand gesture recognition is becoming a more prevalent mode of human-computer interaction, especially as cameras proliferate across everyday devices. Despite continued progress in this field, gesture customization is often underexplored.…

This paper presents KUKAloha, a general, low-cost, and shared-control teleoperation framework designed for construction robot arms. The proposed system employs a leader-follower paradigm in which a lightweight leading arm enables intuitive…

With current development universally in computing, now a days user interaction approaches with mouse, keyboard, touch-pens etc. are not sufficient. Directly using of hands or hand gestures as an input device is a method to attract people…

Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the…

The current generation of surgeons requires extensive training in teleoperation to develop specific dexterous skills, which are independent of medical knowledge. Training curricula progress from manipulation tasks to simulated surgical…

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic,…

Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

A lensless camera is an imaging system that uses a mask in place of a lens, making it thinner, lighter, and less expensive than a lensed camera. However, additional complex computation and time are required for image reconstruction. This…

The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…

As robots become increasingly prevalent in both homes and industrial settings, the demand for intuitive and efficient human-machine interaction continues to rise. Gesture recognition offers an intuitive control method that does not require…