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We present a human robot interface (HRI) for semi-autonomous human-in-the-loop control, that aims to tackle some of the challenges for robotics in unstructured environments. Our HRI lets the user specify desired object alignments in an image editor as geometric overlays on images. The HRI is based on the technique of visual task specification [1], which provides a well studied theoretical framework...
This paper explores visual pointing gestures for two-way nonverbal communication for interacting with a robot arm. Such non-verbal instruction is common when humans communicate spatial directions and actions while collaboratively performing manipulation tasks. Using 3D RGBD we compare human-human and human-robot interaction for solving a pick-and-place task. In the human-human interaction we study...
We introduce image based visual servoing (IBVS) into a shared autonomy grasping system to improve its performance. Visual servoing is a technique that uses visual input to control a dynamic system, such as a robot. Autonomous grasp planning is used to calculate stable grasps to simplify the user control over a robot hand to 1 degree of freedom (DOF) open and close in contrast to controlling every...
Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as disaster response, assistance for elderly or handicapped people, etc. As the world is moving towards the use of robotics to improve quality of life, it is time to assess the challenges...
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