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Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand [article]

Jasper W. James, Alex Church, Luke Cramphorn, Nathan F. Lepora
2020 arXiv   pre-print
Overall, this work demonstrates that the T-MO is an effective platform for robot hand research and we expect it to open-up a range of applications in autonomous object handling.  ...  Here we present a 3D-printed, three-fingered tactile robot hand comprising an OpenHand Model O customized to house a TacTip soft biomimetic tactile sensor in the distal phalanx of each finger.  ...  JJ and LC were supported by the EPSRC CDT in Future Autonomous and Robotic Systems (FARSCOPE). AC was supported by Google DeepMind.  ... 
arXiv:1907.07535v2 fatcat:4pwplmvpu5cnfg43qi3vg5fimi

Table of Contents

2021 IEEE Robotics and Automation Letters  
Sakaino 5153 Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces , and M.  ...  Castro 5509 Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2021.3095987 fatcat:uyk6vlvv45hifbzj4ruzdi6w54

A Suite of Robotic Solutions for Nuclear Waste Decommissioning

Ivan Vitanov, Ildar Farkhatdinov, Brice Denoun, Francesca Palermo, Ata Otaran, Joshua Brown, Bukeikhan Omarali, Taqi Abrar, Miles Hansard, Changjae Oh, Stefan Poslad, Chen Liu (+4 others)
2021 Robotics  
Increasingly, robots are being developed to carry out complex tasks such as perceiving, grasping, cutting, and manipulating waste.  ...  radiation-hardened robots fit to handle nuclear waste.  ...  Safe Object Grasping and Manipulation Manipulating objects in nuclear environments brings with it two key challenges.  ... 
doi:10.3390/robotics10040112 fatcat:hyvqdx4hyjen3hmr5723ahws2a

Where's my mesh? An exploratory study on model-free grasp planning

FABRIZIO BOTTAREL
2021
The capability of manipulating objects is fundamental for robots in order to interact and integrate in the environment they are deployed in.  ...  In the attempt to model such a use case, in this Thesis we consider a target scenario consisting of a surface cluttered with everyday household objects and we explore different approaches to grasp planning  ...  The research work summarized in this Thesis mainly focuses on the grasp planning stage.  ... 
doi:10.15167/bottarel-fabrizio_phd2021-05-12 fatcat:n27hhkxhdvbuvlwuhuzizoa23e

Multimodality in VR: A survey [article]

Daniel Martin, Sandra Malpica, Diego Gutierrez, Belen Masia, Ana Serrano
2021 arXiv   pre-print
In this survey, we review the body of work addressing multimodality in VR, and its role and benefits in user experience, together with different applications that leverage multimodality in many disciplines  ...  In VR, users integrate multimodal sensory information they receive, to create a unified perception of the virtual world.  ...  In other cases, physical space is constrained, and manipulating user's movement may allow to reduce the necessary physical space to complete a task [169] .  ... 
arXiv:2101.07906v2 fatcat:5virj4xa3zcrjmxapabs7ixjhi

A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms [article]

Oliver Kroemer, Scott Niekum, George Konidaris
2020 arXiv   pre-print
to manipulate them, in advance.  ...  The last decade has seen substantial growth in research on the problem of robot manipulation, which aims to exploit the increasing availability of affordable robot arms and grippers to create robots capable  ...  Acknowledgments The authors would like to thank Animesh Garg for all of his help and insightful discussions, and Ben Abbatematteo, Daniel Brown, Caleb Chuck, Matt Corsaro  ... 
arXiv:1907.03146v3 fatcat:2lmt6zpehfa3rj42a3k5kgd4ju

Affective interpretations of assisted driving interventions on a smart-wheelchair : an exploratory study

Ariadna M. Estrada Gaspar
2018
Particularly in the context of collaborative wheelchairs, the arbitration should be sensitive to user needs and preferences in order to avoid confusion and frustration.  ...  Current approaches to shared control for wheelchair navigation have been designed to handle objective and functional information such as goals and system states with limited analyses to subjective information  ...  Contact Contact Participant's Signature Date______________________ Unsafe Safe Difficult Easy Workload 1 Safety and difficulty 1 Did you feel safe or unsafe in the wheelchair?  ... 
doi:10.14288/1.0375817 fatcat:oa2u47d52fa2zmkq5ukpz5upp4

Teaching NICO How to Grasp: An Empirical Study on Crossmodal Social Interaction as a Key Factor for Robots Learning From Humans

Matthias Kerzel, Theresa Pekarek-Rosin, Erik Strahl, Stefan Heinrich, Stefan Wermter
2020 Frontiers in Neurorobotics  
To begin the learning process, an object is placed into NICO's hand, and if this object is accidentally dropped, the human assistant has to recover it.  ...  In contrast to methods like motor babbling, the learning process is, in part, supported by a human teacher.  ...  to an approachable design and social interaction abilities: a humanoid is expected to have two arms with a human-like range of motion and hand-like end-effectors to use tools and manipulate objects in  ... 
doi:10.3389/fnbot.2020.00028 pmid:32581759 pmcid:PMC7297081 fatcat:y6zfse6hcffahgfsaow7uty5ve

Making sense of sensing systems

Victoria Bellotti, Maribeth Back, W. Keith Edwards, Rebecca E. Grinter, Austin Henderson, Cristina Lopes
2002 Proceedings of the SIGCHI conference on Human factors in computing systems Changing our world, changing ourselves - CHI '02  
This notion focuses on the ways in which the new interfaces leverage users' built-in abilities.  ...  Direct manipulation moved user interfaces toward more realistic interaction with the computer; next generation, reality-based interfaces push further in this direction, increasing the realism of the interface  ...  Acknowledgements The author would like to thank to many of the former and current TMG students and colleagues in the MIT Media Lab for their contributions to the TUI research in the past 10 years at the  ... 
doi:10.1145/503376.503450 dblp:conf/chi/BellottiBEGHL02 fatcat:qraobvd44jadjfq4faprxdwue4

Making sense of sensing systems

Victoria Bellotti, Maribeth Back, W. Keith Edwards, Rebecca E. Grinter, Austin Henderson, Cristina Lopes
2002 Proceedings of the SIGCHI conference on Human factors in computing systems Changing our world, changing ourselves - CHI '02  
This notion focuses on the ways in which the new interfaces leverage users' built-in abilities.  ...  Direct manipulation moved user interfaces toward more realistic interaction with the computer; next generation, reality-based interfaces push further in this direction, increasing the realism of the interface  ...  Acknowledgements The author would like to thank to many of the former and current TMG students and colleagues in the MIT Media Lab for their contributions to the TUI research in the past 10 years at the  ... 
doi:10.1145/503447.503450 fatcat:oox2ir4w3bf7nemgqtj5dacqfa

A Survey of Interaction Techniques for Interactive 3D Environments [article]

Jacek Jankowski, Martin Hachet
2012 Eurographics State of the Art Reports  
that are new to the field of interactive 3D graphics.  ...  We hope that this survey can aid both researchers and developers of interactive 3D applications in having a clearer overview of the topic and in particular can be useful for practitioners and researchers  ...  Top row: defining an axis by connecting the two contacts of the non-dominant hand, and then rotating the object about that axis.  ... 
doi:10.2312/conf/eg2013/stars/065-093 fatcat:5ywcacyztrfmjf4jkrpaylkxmq

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2016 Budget Estimates

Department Of Defense Comptroller's Office
2015 Zenodo  
The Defense Advanced Research Projects Agency (DARPA) FY2016 amounted to $2.868 billion in the President's request to support high-risk, high-reward research.  ...  safe and effective for use in healthy subjects.  ...  use of the clutter in the signal environment to make it difficult for an adversary to isolate a particular signal.  ... 
doi:10.5281/zenodo.1215366 fatcat:cqn5tyfixjanzp5x3tgfkpedri

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2019 Budget Estimates

Department Of Defense Comptroller's Office
2018 Zenodo  
To enable in-theater, continuousanalysis and treatment of warfighters, this project seeks to explore diagnostic andtherapeutic approaches, including the use of bacterial predators as therapeuticsagainst  ...  Efforts focus on identified medical gaps in warfighter carerelated to health monitoring and preventing the spread of infectious disease.  ...  contact with a labeled environment of interest.  ... 
doi:10.5281/zenodo.1215599 fatcat:kxduvg6a5nflhf6iilkwnolobu

A Survey on Swarming With Micro Air Vehicles: Fundamental Challenges and Constraints

Mario Coppola, Kimberly N. McGuire, Christophe De Wagter, Guido C. H. E. de Croon
2020 Frontiers in Robotics and AI  
These should be taken into account when designing swarm behaviors in order to maximize the utility of the group. At the lowest level, each MAV should operate safely.  ...  Taking these local limitations into account when designing a global swarm behavior is key in order to take full advantage of the system, enabling local limitations to become true strengths of the swarm  ...  space.  ... 
doi:10.3389/frobt.2020.00018 pmid:33501187 pmcid:PMC7806031 fatcat:p3zp5y3r65cn7nilxzu6gedxaq

Mixed reality for unmanned aerial vehicle operations in near Earth environments

J T Hing, P Y Oh
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
be limited to smaller back-packable and hand launchable vehicles that enable quick maneuvering and access to small spaces.  ...  Exploratory and Development Stages Using SISTR To test and evaluate pilot performance using the chase view interface, a series of experiments were developed to assess pilot skills operating in a cluttered  ... 
doi:10.1109/iros.2010.5651403 dblp:conf/iros/HingO10a fatcat:sbmms3ovrfcr5nto6d3vnichbm
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