相关论文: Close-range Human Following Control on a Cane-type…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…

Blind individuals face persistent challenges in last-mile navigation, including locating entrances, identifying obstacles, and navigating complex or cluttered spaces. Although wearable cameras are increasingly used in assistive systems,…

During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…

One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…

This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…

A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot…

A guiding robot aims to effectively bring people to and from specific places within environments that are possibly unknown to them. During this operation the robot should be able to detect and track the accompanied person, trying never to…

Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In…

Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…

In the era of Industry 5.0, monitoring human activity is essential for ensuring both ergonomic safety and overall well-being. While multi-camera centralized setups improve pose estimation accuracy, they often suffer from high computational…

Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…

Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…

In recent years, motion capture technology using computers has developed rapidly. Because of its high efficiency and excellent performance, it replaces many traditional methods and is being widely used in many fields. Our project is about…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…