相关论文: Learning Latent Actions to Control Assistive Robot…
The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…
In recent years, various intelligent autonomous robots have begun to appear in daily life and production. Desktop-level robots are characterized by their flexible deployment, rapid response, and suitability for light workload environments.…
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…
Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…
Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating…
As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the…
Advances in eye-tracking control for assistive robotic arms provide intuitive interaction opportunities for people with physical disabilities. Shared control has gained interest in recent years by improving user satisfaction through partial…
In this paper, we present a planner for a master dual-arm robot to manipulate tethered tools with an assistant dual-arm robot's help. The assistant robot provides assistance to the master robot by manipulating the tool cable and avoiding…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
Robots capable of performing manipulation tasks in a broad range of missions in unstructured environments can develop numerous applications to impact and enhance human life. Existing work in robot learning has shown success in applying…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…
To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…