相关论文: Hands-On Robotics: Enabling Communication Through …

Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…

Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…

This paper introduces a framework, called EMOTION, for generating expressive motion sequences in humanoid robots, enhancing their ability to engage in humanlike non-verbal communication. Non-verbal cues such as facial expressions, gestures,…

The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…

Static and dynamic hand movements are basic way for human-machine interactions. To recognize and classify these movements, first these movements are captured by the cameras mounted on the augmented reality (AR) or virtual reality (VR)…

In this paper, we aim to understand how user motivation shapes human-robot interaction (HRI) in the wild. To explore this, we conducted a field study by deploying a fully autonomous conversational robot in a shopping mall over two days.…

With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…

We present a novel approach for enhancing human-robot collaboration using physical interactions for real-time error correction of large language model (LLM) powered robots. Unlike other methods that rely on verbal or text commands, the…

Natural co-speech gestures are essential components to improve the experience of Human-robot interaction (HRI). However, current gesture generation approaches have many limitations of not being natural, not aligning with the speech and…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…

As robots become increasingly integrated into various industries, understanding how humans respond to robotic failures is critical. This study systematically examines trust dynamics and system design by analyzing human reactions to robot…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…

Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…

This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…

During a robot to human object handover task, several intended or unintended events may occur with the object - it may be pulled, pushed, bumped or simply held - by the human receiver. We show that it is possible to differentiate between…