相关论文: Close-range Human Following Control on a Cane-type…
Robot guide dogs offer navigation assistance that greatly expands the independent mobility of the visually impaired, but their effective use requires subtle human-robot coordination that is difficult for users to learn from generic verbal…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…
While it is relatively easier to train humanoid robots to mimic specific locomotion skills, it is more challenging to learn from various motions and adhere to continuously changing commands. These robots must accurately track motion…
Recent research has paid little attention to complex driving behaviors, namely merging car-following and lane-changing behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the…
In the past decades, a variety of haptic devices have been developed to facilitate high-fidelity human-computer interaction (HCI) in virtual reality (VR). In particular, passive haptic feedback can create a compelling sensation based on…
The great success of wearables and smartphone apps for provision of extensive physical workout instructions boosts a whole industry dealing with consumer oriented sensors and sports equipment. But with these opportunities there are also new…
One of fundamental issues for security robots is to detect and track people in the surroundings. The main problems of this task are real-time constraints, a changing background, varying illumination conditions and a non-rigid shape of the…
The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mechanics, limiting their ability to accurately simulate human…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
This paper addresses fully automated multi-person tracking in complex environments with challenging occlusion and extensive pose variations. Our solution combines multiple detectors for a set of different regions of interest (e.g.,…
Person-tracking robots have many applications, such as in security, elderly care, and socializing robots. Such a task is particularly challenging when the person is moving in a Uniform crowd. Also, despite significant progress of trackers…
A popular and affordable option to provide room-scale human behaviour tracking is to rely on commodity RGB-D sensors %todo: such as the Kinect family of devices? as such devices offer body tracking capabilities at a reasonable price point.…
Studying animal locomotion improves our understanding of motor control and aids in the treatment of motor impairment. Mice are a premier model of human disease and are the model system of choice for much of basic neuroscience. High frame…
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…