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The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address...
Reconstructing a 3D model of an unknown object via incremental registration of multiple appearance models is a challenging task. With availability of low cost sensors and robust algorithms, the field of visual scene reconstruction has advanced considerably. While these advances has enabled robust reconstructions of cluttered and unstructured scenes, an active 3D reconstruction of a generic handheld...
For a robot to operate efficiently in a human centered environment, it should be able to interact and learn unknown objects autonomously. Such capabilities will enable a robot to enrich its internal knowledge of the environment without human assistance. However, a crucial limitation of robots is their inability to comprehend representations of novel objects without priors. Human efforts are required...
We present a field robot platform HRP2G with humanoid upper body and a high power mobile wheeled base that focus on outdoor tasks. We assemble the hardware of both parts and create a software bridge between the humanoid upper body and the mobile wheeled base through popular robotics software ROS. For the humanoid upper body, we use HRP2 robot and for the mobile wheeled base we buy individual parts...
As humanoids work alongside people, there will be many situations where they need to handover objects to people. If humanoids are to fulfill their purpose effectively, it is imperative that they perform handovers properly. When handing over an object, the giver needs to determine where to grasp and how to orient the object properly in order to ensure a safe and efficient handover. We propose and implement...
To enable robots to learn handover orientations from observing natural handovers, we conduct a user study to measure and compare natural handover orientations with giver-centered and receiver-centered handover orientations for twenty common objects. We use a distance minimization approach to compute mean handover orientations. We posit that, computed means of receiver-centered orientations could be...
We present a method for enabling robots to determine appropriate grasp configurations for handovers - i.e., where to grasp, and how to orient an object when handing it over. In our method, a robot first builds a knowledge base by observing demonstrations of how certain objects are used and their proper handover grasp configurations. Objects in the knowledge base are then organized based on their movements...
Object handover is a basic task in many human-robot interactive scenarios and therefore, it is important for assistive robots to be able to perform proper handovers. We previously designed a human-inspired grip-force-varying handover controller for a robot giver and showed on a Willow Garage PR2 robot that the controller yields human-like and human-preferred handovers. The PR2 robot had a non-compliant...
Object handover is a basic task that is found in many human-robot cooperation scenarios. If we are to build socially acceptable robots, we need to enable robots to perform handovers properly. In this paper, we discuss some of the social implications of proper robot-human handovers, and we focus on the challenge of determining a proper grasp configuration when handing over an object. We propose a framework...
In this study, we investigate and characterize haptic interaction in human-to-human handovers and identify key features that facilitate safe and efficient object transfer. Eighteen participants worked in pairs and transferred weighted objects to each other while we measured their grip forces and load forces. Our data show that during object transfer, both the giver and receiver employ a similar strategy...
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