相关论文: Do You Need a Hand? -- a Bimanual Robotic Dressing…
Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…
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…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational models, but also the risks of grasp instability caused by active…
Robot haircare systems could provide a controlled and personalized environment that is respectful of an individual's sensitivities and may offer a comfortable experience. We argue that because of hair and hairstyles' often unique importance…
Bimanual robotic manipulation is a long-standing challenge of embodied intelligence due to its characteristics of dual-arm spatial-temporal coordination and high-dimensional action spaces. Previous studies rely on pre-defined action…
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
This work proposes and analyses the application of a robotic platform as an digital skills assistant. analysing the ethical issues relating to the decision making process in the use case of online food shopping in order to inform a co…
It is important for socially assistive robots to be able to recognize when a user needs and wants help. Such robots need to be able to recognize human needs in a real-time manner so that they can provide timely assistance. We propose an…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multimodal perception and dual (software and hardware) compliance…
To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data. An ideal robot for humans collecting data is one that closely mimics them: bimanual arms and dexterous…
Enabling robots to provide effective assistance yet still accommodating the operator's commands for telemanipulation of an object is very challenging because robot's assistive action is not always intuitive for human operators and human…
Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…
Developing embedded systems is a complex endeavor that frequently requires collaborative teamwork. With the rise of freelance work and the global shift towards remote work, the need for effective remote collaboration has become crucial for…
Wearable technology has significantly improved the quality of life for older adults, and the emergence of on-body, movable robots presents new opportunities to further enhance well-being. Yet, the interaction design for these robots remains…