相关论文: Object Handovers: a Review for Robotics

One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…

This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…

People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…

For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…

Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…

We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…

The Robadom project aims at creating a homecare robot that help and assist people in their daily life, either in doing task for the human or in managing day organization. A robot could have this kind of role only if it is accepted by…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…

Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…

How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…

Object manipulation is a natural activity we perform every day. How humans handle objects can communicate not only the willfulness of the acting, or key aspects of the context where we operate, but also the properties of the objects…

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…

Multi-agent human-robot co-manipulation is a poorly understood process with many inputs that potentially affect agent behavior. This paper explores one such input known as interaction force. Interaction force is potentially a primary…

Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…

Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute…