相关论文: Adaptive Surgical Robotic Training Using Real-Time…
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and…
Robotic haptic devices combined with virtual reality offer novel opportunities to train fine force generation, an essential yet overlooked component of post-stroke rehabilitation. This study proposes that manipulating the rendered dynamics…
Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…
Synthesizing graceful and life-like behaviors for physically simulated characters has been a fundamental challenge in computer animation. Data-driven methods that leverage motion tracking are a prominent class of techniques for producing…
Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…
Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…
Recent advances in robot-assisted surgery have resulted in progressively more precise, efficient, and minimally invasive procedures, sparking a new era of robotic surgical intervention. This enables doctors, in collaborative interaction…
For non-robot-programming experts, kinesthetic guiding can be an intuitive input method, as robot programming of in-contact tasks is becoming more prominent. However, imprecise and noisy input signals from human demonstrations pose problems…
Supernumerary Robotic Limbs (SRLs) exhibit inherently compliant behavior due to the elasticity present at the intersection of human tissue and the robot. This compliance, can prominently influence the operation of some SRLs, depending on…
Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which…
Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry,…
This paper contributes a first study into how different human users deliver simultaneous control and feedback signals during human-robot interaction. As part of this work, we formalize and present a general interactive learning framework…
Laparoscopic surgery constrains surgeons spatial awareness because procedures are performed through a monocular, two-dimensional (2D) endoscopic view. Conventional training methods using dry-lab models or recorded videos provide limited…
This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching for local transformations of tactile measurements that…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…