相关论文: Modeling of Interface Loads for EOD Suit Wearers
Predicting the behaviors of pedestrian crowds is of critical importance for a variety of real-world problems. Data driven modeling, which aims to learn the mathematical models from observed data, is a promising tool to construct models that…
We propose embodied scene-aware human pose estimation where we estimate 3D poses based on a simulated agent's proprioception and scene awareness, along with external third-person observations. Unlike prior methods that often resort to…
The task of predicting human motion is complicated by the natural heterogeneity and compositionality of actions, necessitating robustness to distributional shifts as far as out-of-distribution (OoD). Here we formulate a new OoD benchmark…
Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…
Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…
This paper focuses on the development of a ground-based test-bed to analyze the complexities of contact dynamics between multibody systems in space. The test-bed consists of an air-bearing platform equipped with a 7 degrees-of-freedom (one…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
The advent of the Edge Computing (EC) leads to a huge ecosystem where numerous nodes can interact with data collection devices located close to end users. Human detection and tracking can be realized at edge nodes that perform the…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…
The identification of the interface of an inclusion in a diffusion process is considered. This task is viewed as a parameter identification problem in which the parameter space bears the structure of a shape manifold. A corresponding…
Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and maintenance jobs. In these jobs, musculoskeletal…
Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and maintenance jobs. In these jobs, musculoskeletal…
Offloading resource-intensive jobs to the cloud and nearby users is a promising approach to enhance mobile devices. This paper investigates a hybrid offloading system that takes both infrastructure-based networks and Ad-hoc networks into…
Estimating the body shape and posture of a dressed human subject in motion represented as a sequence of (possibly incomplete) 3D meshes is important for virtual change rooms and security. To solve this problem, statistical shape spaces…
Usability engineering and usability testing are concepts that continue to evolve. Interesting research studies and new ideas come up every now and then. This paper tests the hypothesis of using an EDA based physiological measurements as a…
Accurately predicting pedestrian motion is crucial for safe and reliable autonomous driving in complex urban environments. In this work, we present a 3D vehicle-conditioned pedestrian pose forecasting framework that explicitly incorporates…
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
Over the past decades, several computer codes were developed for simulation and analysis of thermal-hydraulics of system behaviors in nuclear reactors under operating, abnormal transient and accident conditions. However, simulation errors…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…