相关论文: Enhanced Human-Robot Collaboration using Constrain…

Analyzing human motion is an active research area, with various applications. In this work, we focus on human motion analysis in the context of physical rehabilitation using a robot coach system. Computer-aided assessment of physical…

We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…

The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…

This work presents a non-parametric spatio-temporal model for mapping human activity by mobile autonomous robots in a long-term context. Based on Variational Gaussian Process Regression, the model incorporates prior information of spatial…

Joint forecasting of human trajectory and pose dynamics is a fundamental building block of various applications ranging from robotics and autonomous driving to surveillance systems. Predicting body dynamics requires capturing subtle…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

Predicting human motion in unstructured and dynamic environments is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose to encode…

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…

Traction adaptive motion planning and control has potential to improve an an automated vehicle's ability to avoid accident in a critical situation. However, such functionality require an accurate friction estimate for the road ahead of the…

To engender safe and efficient human-robot collaboration, it is critical to generate high-fidelity predictions of human behavior. The challenges in making accurate predictions lie in the stochasticity and heterogeneity in human behaviors.…

For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

Human motion understanding and prediction is an integral aspect in our pursuit of machine intelligence and human-machine interaction systems. Current methods typically pursue a kinematics modeling approach, relying heavily upon prior…

Stochastic Human Motion Prediction (HMP) aims to predict multiple possible future human pose sequences from observed ones. Most prior works learn motion distributions through encoding-decoding in the latent space, which does not preserve…

Human motion prediction aims to forecast future human poses given a historical motion. Whether based on recurrent or feed-forward neural networks, existing learning based methods fail to model the observation that human motion tends to…

We examine how a human-robot interaction (HRI) system may be designed when input-output data from previous experiments are available. In particular, we consider how to select an optimal impedance in the assistance design for a cooperative…

Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…