相关论文: iCub3 Avatar System: Enabling Remote Fully-Immersi…

Robotic avatar systems can enable immersive telepresence with locomotion, manipulation, and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent…

Robotic avatars promise immersive teleoperation with human-like manipulation and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent force-feedback…

Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the $5M grand prize at the international ANA Avatar XPRIZE competition, which required participants to…

Although telepresence assistive robots have made significant progress, they still lack the sense of realism and physical presence of the remote operator. This results in a lack of trust and adoption of such robots. In this paper, we…

This work presents Interactive Conversational 3D Virtual Human (ICo3D), a method for generating an interactive, conversational, and photorealistic 3D human avatar. Based on multi-view captures of a subject, we create an animatable 3D face…

To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging…

AI and robotics technologies have witnessed remarkable advancements in the past decade, revolutionizing work patterns and opportunities in various domains. The application of these technologies has propelled society towards an era of…

This study explores human perceptions of intelligent agents by comparing interactions with a humanoid robot and a virtual human avatar, both utilizing GPT-3 for response generation. The study aims to understand how physical and virtual…

The $10M ANA Avatar XPRIZE aimed to create avatar systems that can transport human presence to remote locations in real time. The participants of this multi-year competition developed robotic systems that allow operators to see, hear, and…

In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and illustrate how it evolved to become the platform that is…

In the context of avatar-mediated communication, it is crucial for the face-to-face interlocutor to sense the operator's presence and emotions via the avatar. Although androids resembling humans have been developed to convey presence…

The humanoid robot iCub is a research platform of the Fondazione Istituto Italiano di Tecnologia (IIT), spread among different institutes around the world. In the most recent version of iCub, the robot is equipped with stronger legs and…

Human-robot studies are expensive to conduct and difficult to control, and as such researchers sometimes turn to human-avatar interaction in the hope of faster and cheaper data collection that can be transferred to the robot domain. In…

We present a CloseUpAvatar - a novel approach for articulated human avatar representation dealing with more general camera motions, while preserving rendering quality for close-up views. CloseUpAvatar represents an avatar as a set of…

Affective touch in human-robot interaction is shaped not only by emotional intent, but also by robot embodiment, including touch location, physical constraints, and perceived agency or social role. Existing HRI studies typically focus on…

In this paper we present and start analyzing the iCub World data-set, an object recognition data-set, we acquired using a Human-Robot Interaction (HRI) scheme and the iCub humanoid robot platform. Our set up allows for rapid acquisition and…

The ANA Avatar XPRIZE was a four-year competition to develop a robotic "avatar" system to allow a human operator to sense, communicate, and act in a remote environment as though physically present. The competition featured a unique…

Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four…