相关论文: Efficient and Safe Contact-rich pHRI via Subtask D…
In this work, a real-time hand gesture recognition system-based human-computer interface (HCI) is presented. The system consists of six stages: (1) hand detection, (2) gesture segmentation, (3) use of five pre-trained convolutional neural…
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform forceful manipulation tasks such as moving objects, wiping,…
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
Pursuing natural and marker-less human-robot interaction (HRI) has been a long-standing robotics research focus, driven by the vision of seamless collaboration without physical markers. Marker-less approaches promise an improved user…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a…
Modeling interaction dynamics to generate robot trajectories that enable a robot to adapt and react to a human's actions and intentions is critical for efficient and effective collaborative Human-Robot Interactions (HRI). Learning from…
Connector insertion and many other tasks commonly found in modern manufacturing settings involve complex contact dynamics and friction. Since it is difficult to capture related physical effects with first-order modeling, traditional control…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
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…
Video object segmentation is an essential task in robot manipulation to facilitate grasping and learning affordances. Incremental learning is important for robotics in unstructured environments, since the total number of objects and their…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Human dexterity arises from combining high-level task reasoning with finger-level dexterity control and physical compliance at the muscle and skin layers. In robotics, large Vision-Language-Action (VLA) models demonstrate text-conditioned…
Human-Robot Interfaces (HRIs) represent a crucial component in telerobotic systems. Body-Machine Interfaces (BoMIs) based on body motion can feel more intuitive than standard HRIs for naive users as they leverage humans' natural control…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…
The ability of neural networks to perform robotic perception and control tasks such as depth and optical flow estimation, simultaneous localization and mapping (SLAM), and automatic control has led to their widespread adoption in recent…
In this paper, we consider the detection of a decrease of engagement by users spontaneously interacting with a socially assistive robot in a public space. We first describe the UE-HRI dataset that collects spontaneous Human-Robot…
Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…
Industrial insertion tasks are often performed repetitively with parts that are subject to tight tolerances and prone to breakage. Learning an industrial insertion policy in real is challenging as the collision between the parts and the…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…