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In this paper we provide a method for identifying and temporally localizing tactile force actions from measured force signals. Our key idea is to use the continuous wavelet transform (CWT) with the Complex Morlet wavelet to transform force signals into feature vectors amenable to machine learning algorithms. Our method uses these feature vectors to train a classifier that recognizes different actions...
Interactions with simulated robots are typically presented on screens. Virtual reality (VR) offers an attractive alternative as it provides visual cues that are more similar to the real world. In this paper, we explore how virtual reality mediates human-robot interactions through two user studies. The first study shows that in situations where perception of the robot is challenging, a VR display provides...
Planning effective arm motions is integral to manipulation tasks. In general, motion synthesis methods have focused on functional objectives, such as minimizing time and maximizing efficiency. However, recent work in human-robot collaboration suggests that choices in motion design can influence collaboration performance and quality. Some motion designs are easier than others for human observers to...
Monitoring, analyzing, or comparing the motions of a robot can be a critical activity but a tedious and inefficient one in research settings and practical applications. In this paper, we present an approach we call motion synopsis for providing users with a global view of a robot's motion trajectory as a set of key poses in a static 2D image, allowing for more efficient robot motion review, preview,...
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