相关论文: Investigating the effects of exploration dynamics …
In contrast with the diversity of materials found in nature, most robots are designed with some combination of aluminum, stainless steel, and 3D-printed filament. Additionally, robotic systems are typically assumed to follow basic…
The integration of humanoid and animal-shaped robots into specialized domains, such as healthcare, multi-terrain operations, and psychotherapy, necessitates a deep understanding of proxemics--the study of spatial behavior that governs…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans…
In this paper, we show that unwinding the rotations of a user immersed in a telepresence robot is preferred and may increase the feeling of presence or "being there". By immersive telepresence, we mean a scenario where a user wearing a…
A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
Exoskeletons modulate human movement across diverse applications, from performance augmentation to daily-life assistance. These systems often enforce specific kinematic patterns to mitigate injury risks and motivate users to keep moving…
In this paper, we aim to understand how user motivation shapes human-robot interaction (HRI) in the wild. To explore this, we conducted a field study by deploying a fully autonomous conversational robot in a shopping mall over two days.…
Multi-robot systems are made up of a team of multiple robots, which provides the advantage of performing complex tasks with high efficiency, flexibility, and robustness. Although research on human-robot interaction is ongoing as robots…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of…