相关论文: Data-driven Grip Force Variation in Robot-Human Ha…

In this article, an enactive architecture is described that allows a humanoid robot to learn to compose simple actions into turn-taking behaviors while playing interaction games with a human partner. The robot's action choices are…

Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Contact-rich manipulation depends on applying the correct grasp forces throughout the manipulation task, especially when handling fragile or deformable objects. Most existing imitation learning approaches often treat visuotactile feedback…

This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…

Analysis of grip force signals tailored to hand and finger movement evolution and changes in grip force control during task execution provide unprecedented functional insight into somatosensory cognition. Somatosensory cognition is the…

This article presents a method for learning well-coordinated Human-Robot Interaction (HRI) from Human-Human Interactions (HHI). We devise a hybrid approach using Hidden Markov Models (HMMs) as the latent space priors for a Variational…

We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…

Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

As the number of the robot's degrees of freedom increases, the implementation of robot motion becomes more complex and difficult. In this study, we focus on learning 6DOF-grasping motion and consider dividing the grasping motion into…

We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this…

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,…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…

This paper introduces the YCB-Handovers dataset, capturing motion data of 2771 human-human handovers with varying object weights. The dataset aims to bridge a gap in human-robot collaboration research, providing insights into the impact of…

Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…

In this paper, we aim to address the problem of human interaction recognition in videos by exploring the long-term inter-related dynamics among multiple persons. Recently, Long Short-Term Memory (LSTM) has become a popular choice to model…

Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…

Dexterous manipulation through imitation learning has gained significant attention in robotics research. The collection of high-quality expert data holds paramount importance when using imitation learning. The existing approaches for…