相关论文: Pose Imitation Constraints for Collaborative Robot…

Real-time humanoid teleoperation requires inverse kinematics (IK) solvers that are both responsive and constraint-safe under kinematic redundancy and self-collision constraints. While differential IK enables efficient online retargeting,…

Human pose forecasting is an important problem in computer vision with applications to human-robot interaction, visual surveillance, and autonomous driving. Usually, forecasting algorithms use 3D skeleton sequences and are trained to…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

In this work, we introduce the challenging problem of joint multi-person pose estimation and tracking of an unknown number of persons in unconstrained videos. Existing methods for multi-person pose estimation in images cannot be applied…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…

Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…

Human pose estimation (i.e., locating the body parts / joints of a person) is a fundamental problem in human-computer interaction and multimedia applications. Significant progress has been made based on the development of depth sensors,…

The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…

We outline the role of forward and inverse modelling approaches in the design of human--computer interaction systems. Causal, forward models tend to be easier to specify and simulate, but HCI requires solutions of the inverse problem. We…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

Accurate human motion prediction with well-calibrated uncertainty is critical for safe human-robot collaboration (HRC), where robots must anticipate and react to human movements in real time. We propose a structured multitask variational…

Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing…

For a successful deployment of physical Human-Robot Cooperation (pHRC), humans need to be able to teach robots new motor skills quickly. Probabilistic movement primitives (ProMPs) are a promising method to encode a robot's motor skills…

Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…

Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…