相关论文: Optimizing Interaction Space: Enlarging the Captur…
Marker-less monocular 3D human motion capture (MoCap) with scene interactions is a challenging research topic relevant for extended reality, robotics and virtual avatar generation. Due to the inherent depth ambiguity of monocular settings,…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
Low physical activity levels in the intensive care units (ICU) patients have been linked to adverse clinical outcomes. Therefore, there is a need for continuous and objective measurement of physical activity in the ICU to quantify the…
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses on in-grasp object movement, which refers to…
Multi-Camera Multi-Object Tracking is currently drawing attention in the computer vision field due to its superior performance in real-world applications such as video surveillance in crowded scenes or in wide spaces. In this work, we…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Research in multi-modal interfaces aims to provide solutions to immersion and increase overall human performance. A promising direction is combining auditory, visual and haptic interaction between the user and the simulated environment.…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
The current dominated wearable body motion sensor is IMU. This work presented an alternative wearable motion-sensing approach: human body capacitance (HBC, also commonly defined as body-area electric field). While being less robust in…
We tackle the problem of estimating the 3D pose of an individual's upper limbs (arms+hands) from a chest mounted depth-camera. Importantly, we consider pose estimation during everyday interactions with objects. Past work shows that strong…
Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of object images and grasp labels. However, empirical grasping…
Movable antennas (MAs) have attracted growing interest for their ability to improve channel conditions via adaptive antenna movement. Nevertheless, such movement inevitably introduces mutual coupling (MC), whose impact has been largely…
This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Support massive connectivity is an important requirement in 5G wireless communication system. For massive Machine Type Communication (MTC) scenario, since the network is expected to accommodate a massive number of MTC devices with sparse…
Catching fast-moving objects serves as a benchmark for robotic agility, posing significant coordination challenges for cooperative manipulator systems holding a catcher, particularly due to inherent closed-chain constraints. This paper…
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various…