相关论文: MORPHeus: a Multimodal One-armed Robot-assisted Pe…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…
We present the Human And Robot Multimodal Observations of Natural Interactive Collaboration (HARMONIC) data set. This is a large multimodal data set of human interactions with a robotic arm in a shared autonomy setting designed to imitate…
Dexterous robot hands offer rich opportunities for multifunctional manipulation, where a robot must execute multiple skills in sequence while maintaining control over previously grasped objects. Most prior work in dexterous manipulation…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different…
The enormous progress in the field of artificial intelligence (AI) enables retail companies to automate their processes and thus to save costs. Thereby, many AI-based automation approaches are based on machine learning and computer vision.…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
To better optimise the global food supply chain, robotic solutions are needed to automate tasks currently completed by humans. Namely, phenotyping, quality analysis and harvesting are all open problems in the field of agricultural robotics.…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…
Dexterous in-hand manipulation remains a foundational challenge in robotics, with progress often constrained by the prevailing paradigm of imitating the human hand. This anthropomorphic approach creates two critical barriers: 1) it limits…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…