相关论文: User-oriented Natural Human-Robot Control with Thi…
Slip and crumple detection is essential for performing robust manipulation tasks with a robotic hand (RH) like remote surgery. It has been one of the challenging problems in the robotics manipulation community. In this work, we propose a…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
User localization and tracking in the upcoming generation of wireless networks have the potential to be revolutionized by technologies such as the Dynamic Metasurface Antennas (DMAs). Commonly proposed algorithmic approaches rely on…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…
We want to build robots that are useful in unstructured real world applications, such as doing work in the household. Grasping in particular is an important skill in this domain, yet it remains a challenge. One of the key hurdles is…
Supernumerary robotic limbs (SRLs) are robotic structures integrated closely with the user's body, which augment human physical capabilities and necessitate seamless, naturalistic human-machine interaction. For effective assistance in…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Hand gesture recognition is becoming a more prevalent mode of human-computer interaction, especially as cameras proliferate across everyday devices. Despite continued progress in this field, gesture customization is often underexplored.…
Edge computing allows more computing tasks to take place on the decentralized nodes at the edge of networks. Today many delay sensitive, mission-critical applications can leverage these edge devices to reduce the time delay or even to…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…
Accurate segmentation and statistical shape modeling of hand anatomy have significant implications for medical diagnostics, ergonomics, and biomechanics. This study proposes an AI-assisted reconstruction pipeline for segmenting and…
Tasks related to human hands have long been part of the computer vision community. Hands being the primary actuators for humans, convey a lot about activities and intents, in addition to being an alternative form of…
Nowadays, autonomous mobile robots support people in many areas where human presence either redundant or too dangerous. They have successfully proven themselves in expeditions, gas industry, mines, warehouses, etc. However, even legged…
Human actions recognition is a fundamental task in artificial vision, that has earned a great importance in recent years due to its multiple applications in different areas. %, such as the study of human behavior, security or video…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Despite recent advances in 3D pose estimation of human hands, especially thanks to the advent of CNNs and depth cameras, this task is still far from being solved. This is mainly due to the highly non-linear dynamics of fingers, which make…