Publications (14)
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
Haofeng Chen, Carson Kohlbrenner, Jiri Kubik +6
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring com…
Simulating Infant First-Person Sensorimotor Experience via Motion Retargeting from Babies to Humanoids
Francisco M. López, Hoshinori Kanazawa, Ondrej Fiala +8
Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only…
Empirical Comparison of Four Stereoscopic Depth Sensing Cameras for Robotics Applications
Lukas Rustler, Vojtech Volprecht, Matej Hoffmann
Depth sensing is an essential technology in robotics and many other fields. Many depth sensing (or RGB-D) cameras are available on the market and selecting the best one for your ap…
No Need to Look! Locating and Grasping Objects by a Robot Arm Covered with Sensitive Skin
Karel Bartunek, Lukas Rustler, Matej Hoffmann
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In t…
Learning with pyCub: A Simulation and Exercise Framework for Humanoid Robotics
Lukas Rustler, Matej Hoffmann
We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing i…
ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation
Lukas Rustler, Matej Hoffmann
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation…
Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation
Lukas Rustler, Jiri Matas, Matej Hoffmann
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From…
Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration
Petr Svarny, Jakub Rozlivek, Lukas Rustler +4
Soft electronic skins are one of the means to turn an industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human-robot collaboratio…
Adaptive Electronic Skin Sensitivity for Safe Human-Robot Interaction
Lukas Rustler, Matej Misar, Matej Hoffmann
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 150…
Active Visuo-Haptic Object Shape Completion
Lukas Rustler, Jens Lundell, Jan Kristof Behrens +2
Recent advancements in object shape completion have enabled impressive object reconstructions using only visual input. However, due to self-occlusion, the reconstructions have high…
Design and Human Evaluation of Tactile Withdrawal Reflexes for a Skin-Covered Robot Arm
Laura Babayeva, Lukas Rustler, Matej Hoffmann
Nociception is a protective biological mechanism that links harmful stimulation to a reaction. This paper investigates artificial nociception for a robotic arm with whole-body tact…
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration
Lukas Rustler, Matej Misar, Matej Hoffmann
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allow…
Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements
Andrej Kruzliak, Jiri Hartvich, Shubhan P. Patni +6
This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a…
3D Collision-Force-Map for Safe Human-Robot Collaboration
Petr Svarny, Jakub Rozlivek, Lukas Rustler +1
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Forc…