相关论文: Towards an immersive user interface for waypoint n…

Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

It is fundamental for personal robots to reliably navigate to a specified goal. To study this task, PointGoal navigation has been introduced in simulated Embodied AI environments. Recent advances solve this PointGoal navigation task with…

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…

Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…

Body actions and head gestures are natural interfaces for interaction in virtual environments. Existing methods for in-place body action recognition often require hardware more than a head-mounted display (HMD), making body action…

Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

With the mounting global interest for optical see-through head-mounted displays (OST-HMDs) across medical, industrial and entertainment settings, many systems with different capabilities are rapidly entering the market. Despite such…

The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising…

Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…

As vehicle automation technology continues to mature, there is a necessity for robust remote monitoring and intervention features. These are essential for intervening during vehicle malfunctions, challenging road conditions, or in areas…

We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…

Interacting with an in-vehicle system through a central console is known to induce visual and biomechanical distractions, thereby delaying the danger recognition and response times of the driver and significantly increasing the risk of an…