相关论文: Optimizing Interaction Space: Enlarging the Captur…
We present a method to combine markerless motion capture and dense pose feature estimation into a single framework. We demonstrate that dense pose information can help for multiview/single-view motion capture, and multiview motion capture…
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
Research in user interaction with mixed reality environments using multiple displays has become increasingly relevant with the prevalence of mobile devices in everyday life and increased commoditization of large display area technologies…
We present an open-source library for seamless robot control through motion capture using smartphones and smartwatches. Our library features three modes: Watch Only Mode, enabling control with a single smartwatch; Upper Arm Mode, offering…
In this paper, we consider a tunable liquid convex lens-assisted imaging receiver for indoor multiple-input multiple-output (MIMO) visible light communication (VLC) systems. In contrast to existing MIMO VLC receivers that rely on fixed…
We tackle the problem of highly-accurate, holistic performance capture for the face, body and hands simultaneously. Motion-capture technologies used in film and game production typically focus only on face, body or hand capture…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in real-time is often challenging. One common solution is given…
Loco-manipulation demands coordinated whole-body motion to manipulate objects effectively while maintaining locomotion stability, presenting significant challenges for both planning and control. In this work, we propose a whole-body model…
This work introduces MotionLCM, extending controllable motion generation to a real-time level. Existing methods for spatial-temporal control in text-conditioned motion generation suffer from significant runtime inefficiency. To address this…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Recent technological advances have made head-mounted displays (HMDs) smaller and untethered, fostering the vision of ubiquitous interaction with information in a digitally augmented physical world. For interacting with such devices, three…
Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…
Objective The coordination of human movement directly reflects function of the central nervous system. Small deficits in movement are often the first sign of an underlying neurological problem. The objective of this research is to develop a…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
Recent advances in imitation learning have shown great promise for developing robust robot manipulation policies from demonstrations. However, this promise is contingent on the availability of diverse, high-quality datasets, which are not…
Timely and adequate rehabilitation is critical in facilitating post-stroke recovery. However, the organization and delivery of rehabilitation are resource-demanding, and are only available to approximately 25% of stroke survivors in…
Regulatory limits on Maximum Permissible Exposure (MPE) require handheld devices to reduce transmit power when operated near the user's body. Current proximity sensors provide only binary detection, triggering conservative power back-off…
We present a method to simulate movement in interaction with computers, using Model Predictive Control (MPC). The method starts from understanding interaction from an Optimal Feedback Control (OFC) perspective. We assume that users aim to…
We present a controlled, quantitative study with 12 participants comparing interaction with a haptically enhanced mixing board against interaction with a mouse in an abstract task that is motivated by several practical parameter space…