相关论文: HoLLiE C -- A Multifunctional Bimanual Mobile Robo…
We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples a portable VR teleoperation kit with sensorized controllers…
Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
The accelerating aging population has led to an increasing demand for domestic robotics to ease caregivers' burden. The integration of Internet of Things (IoT), robotics, and human-robot interaction (HRI) technologies is essential for…
Recent advances in sensing, communication, interfaces, control, and robotics are expanding Human-Building Interaction (HBI) beyond adaptive building services and facades toward the physical actuation of architectural space. In parallel,…
A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
Building general-purpose intelligent robots has long been a fundamental goal of robotics. A promising approach is to mirror the evolutionary trajectory of humans: learning through continuous interaction with the environment, with early…
We present OpenRoboCare, a multimodal dataset for robot caregiving, capturing expert occupational therapist demonstrations of Activities of Daily Living (ADLs). Caregiving tasks involve complex physical human-robot interactions, requiring…
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…
Extending the maneuverability of unmanned areal vehicles promises to yield a considerable increase in the areas in which these systems can be used. Some such applications are the performance of more complicated inspection tasks and the…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…
Multi-robot systems hold significant promise for social environments such as homes and hospitals, yet existing multi-robot works treat robots as functionally identical, overlooking how robots individual identity shape user perception and…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Robots hold significant promise to assist with providing care to an aging population and to help overcome increasing caregiver demands. Although a large body of research has explored robotic assistance for individuals with disabilities and…
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
Human-robot collaboration (HRC) has become increasingly relevant in industrial, household, and commercial settings. However, the effectiveness of such collaborations is highly dependent on the human and robots' situational awareness of the…
The development of autonomous robotic systems offers significant potential for performing complex tasks with precision and consistency. Recent advances in Artificial Intelligence (AI) have enabled more capable intelligent automation…