相关论文: Human-Robot Handovers using Task-Space Quadratic P…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Task-oriented handovers (TOH) are fundamental to effective human-robot collaboration, requiring robots to present objects in a way that supports the human's intended post-handover use. Existing approaches are typically based on object- or…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
Human-robot interaction (HRI) encompasses a wide range of collaborative tasks, with handover being one of the most fundamental. As robots become more integrated into human environments, the potential for service robots to assist in handing…
Human-human joint-action in short-cycle repetitive handover tasks was investigated for a bottle handover task using a three-fold approach: work-methods field studies in multiple supermarkets, simulation analysis using an ergonomics software…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…
Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties requires the use of scanned 3D object models or…
Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…
Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to…
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…