相关论文: Human-robot collaborative object transfer using hu…

Dynamic Movement Primitives (DMPs) is a framework for learning a point-to-point trajectory from a demonstration. Despite being widely used, DMPs still present some shortcomings that may limit their usage in real robotic applications.…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

In recent years, there has been growing interest in developing robots and autonomous systems that can interact with human in a more natural and intuitive way. One of the key challenges in achieving this goal is to enable these systems to…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…

This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. In particular, we propose a distributed model-free…

In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep movement primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper…

Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…

Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…

Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…

When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…

Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot Interaction (HRI), where robots should be…

This work describes the development of a robotic system that acquires knowledge incrementally through human interaction where new tools and motions are taught on the fly. The robotic system developed was one of the five finalists in the…