相关论文: Optimizing Interaction Space: Enlarging the Captur…
Recently, learned video compression (LVC) has shown superior performance under low-delay configuration. However, the performance of learned bi-directional video compression (LBVC) still lags behind traditional bi-directional coding. The…
Motion capture systems are a widespread tool in research to record ground-truth poses of objects. Commercial systems use reflective markers attached to the object and then triangulate pose of the object from multiple camera views.…
This paper introduces principal motion components (PMC), a new method for one-shot gesture recognition. In the considered scenario a single training-video is available for each gesture to be recognized, which limits the application of…
Recent developments have created differentiable physics simulators designed for machine learning pipelines that can be accelerated on a GPU. While these can simulate biomechanical models, these opportunities have not been exploited for…
Optical motion capture systems have become a widely used technology in various fields, such as augmented reality, robotics, movie production, etc. Such systems use a large number of cameras to triangulate the position of optical markers.The…
A system that employs wavelength division multiplexing (WDM) in conjunction with subcarrier multiplexing (SCM) tones is proposed to realize high data rate multi-user indoor visible light communication (VLC). The SCM tones, which are…
Electromyogram (EMG) signals recorded from the skin surface enable intuitive control of assistive devices such as prosthetic limbs. However, in EMG-based motion recognition, collecting comprehensive training data for all target motions…
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The…
Achieving human-like dexterous manipulation remains a crucial area of research in robotics. Current research focuses on improving the success rate of pick-and-place tasks. Compared with pick-and-place, throwing-catching behavior has the…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Around-device interaction techniques aim at extending the input space using various sensing modalities on mobile and wearable devices. In this paper, we present our work towards extending the input area of mobile devices using front-facing…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To address this challenge, we propose a novel learning-based control…
The varied landscape of robotic hand designs makes it difficult to set a standard for how to measure hand size and to communicate the size of objects it can grasp. Defining consistent workspace measurements would greatly assist scientific…
This work presents the solution of the Signal Sleuths team for the 2024 HASCA WEAR challenge. The challenge focuses on detecting 18 workout activities (and the null class) using accelerometer data from 4 wearables - one worn on each limb.…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…