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Human manipulation segmentation and characterization based on instantaneous work

This paper is related to the observation of human operator manipulating objects for teaching a robot to reproduce the action. Assuming the robotic system is equipped with basic manipulation skills, we focus here on the automatic segmentation of the …

2D Image Features Detector And Descriptor Selection Expert System

Detection and description of keypoints from an image is a well-studied problem in Computer Vision. Some methods like SIFT, SURF or ORB are computationally really efficient. This paper proposes a solution for a particular case study on object …

Towards an Advanced ROS Package Generator

This paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS …

Appropriate spherical coordinate model for trocar port constraint in robotic surgery

This article deals with the representation of the pivot point created when inserting an endoscope in the human body during a surgery application. Several robotic-based surgical solutions use the well-known spherical coordinates to define the pose of …

Towards Human-Robot object exchange, lessons learned

Feature selection for hand pose recognition in human-robot object exchange scenario

Vision-based hand gesture recognition relies on the extraction of features describing the hand, and the appropriate set of features is usually selected in an empirical manner. We propose in this article a systematic selection of the best features to …

Experimental testing of the CogLaboration prototype system for fluent Human-Robot object handover interactions

Implementation and experimental validation of Dynamic Movement Primitives for object handover

Relative importance of spatial and temporal precision for user satisfaction in Human-Robot object handover Interactions

Dynamic Movement Primitives for Human-Robot interaction: Comparison with human behavioral observation