相关论文: Sensorless Estimation of Contact Using Deep-Learni…

There is a growing need for social robots and intelligent agents that can effectively interact with and support users. For the interactions to be seamless, the agents need to analyse social scenes and behavioural cues from their (robot's)…

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…

This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…

This article proposes a collision risk anticipation method based on short-term prediction of the agents position. A Long Short-Term Memory (LSTM) model, trained on past trajectories, is used to estimate the next position of each robot. This…

Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…

In this work, deep neural networks made up of multiple hidden Long Short-Term Memory (LSTM) and Feedforward layers are trained to predict the thermal behavior of the joint motors of robot manipulators. A model-free and scalable approach is…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…

Gestures form an important medium of communication between humans and machines. An overwhelming majority of existing gesture recognition methods are tailored to a scenario where humans and machines are located very close to each other. This…

Dynamic hand gestures play a crucial role in conveying nonverbal information for Human-Robot Interaction (HRI), eliminating the need for complex interfaces. Current models for dynamic gesture recognition suffer from limitations in effective…

There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference…

Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior,…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Learning physically structured representations of dynamical systems that include contact between different objects is an important problem for learning-based approaches in robotics. Black-box neural networks can learn to approximately…

Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

In this paper we address the problem of multi-cue affect recognition in challenging scenarios such as child-robot interaction. Towards this goal we propose a method for automatic recognition of affect that leverages body expressions…

Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…