相关论文: Dynamic Hand Gesture Recognition for Robot Manipul…

We hand the community HAND, a simple and time-efficient method for teaching robots new manipulation tasks through human hand demonstrations. Instead of relying on task-specific robot demonstrations collected via teleoperation, HAND uses…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

Multi-task robotic bimanual manipulation is becoming increasingly popular as it enables sophisticated tasks that require diverse dual-arm collaboration patterns. Compared to unimanual manipulation, bimanual tasks pose challenges to…

At the present time, hand gestures recognition system could be used as a more expected and useable approach for human computer interaction. Automatic hand gesture recognition system provides us a new tactic for interactive with the virtual…

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…

The dynamic hand gesture recognition task has seen studies on various unimodal and multimodal methods. Previously, researchers have explored depth and 2D-skeleton-based multimodal fusion CRNNs (Convolutional Recurrent Neural Networks) but…

In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…

We propose a fully automatic method for learning gestures on big touch devices in a potentially multi-user context. The goal is to learn general models capable of adapting to different gestures, user styles and hardware variations (e.g.…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…

Recognition of hand gestures is one of the most fundamental tasks in human-robot interaction. Sparse representation based methods have been widely used due to their efficiency and low demands on the training data. Recently, nonconvex…

Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…

We study real-time collaborative robot (cobot) handling, where the cobot maneuvers a workpiece under human commands. This is useful when it is risky for humans to directly handle the workpiece. However, it is hard to make the cobot both…

Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…

Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…