16 citations · 20 across the 11 of their papers we have counts for
11 papers · 1 filter
Human Comfortability Index Estimation in Industrial Human-Robot Collaboration Task
Celal Savur, Jamison Heard, Ferat Sahin
Fluent human-robot collaboration requires a robot teammate to understand, learn, and adapt to the human's psycho-physiological state. Such collaborations require a computing system…
Learning Multi-step Robotic Manipulation Policies from Visual Observation of Scene and Q-value Predictions of Previous Action
Sulabh Kumra, Shirin Joshi, Ferat Sahin
In this work, we focus on multi-step manipulation tasks that involve long-horizon planning and considers progress reversal. Such tasks interlace high-level reasoning that consists…
Learning Robotic Manipulation Tasks via Task Progress based Gaussian Reward and Loss Adjusted Exploration
Sulabh Kumra, Shirin Josh, Ferat Sahin
Multi-step manipulation tasks in unstructured environments are extremely challenging for a robot to learn. Such tasks interlace high-level reasoning that consists of the expected s…
Robotic Grasping using Deep Reinforcement Learning
Shirin Joshi, Sulabh Kumra, Ferat Sahin
In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach r…
Human Position Detection & Tracking with On-robot Time-of-Flight Laser Ranging Sensors
Sarthak Arora, Shitij Kumar, Ferat Sahin
In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors…
Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network
Sulabh Kumra, Shirin Joshi, Ferat Sahin
In this paper, we present a modular robotic system to tackle the problem of generating and performing antipodal robotic grasps for unknown objects from n-channel image of the scene…
Sensing Volume Coverage of Robot Workspace using On-Robot Time-of-Flight Sensor Arrays for Safe Human Robot Interaction
Shitij Kumar, Ferat Sahin
In this paper, an analysis of the sensing volume coverage of robot workspace as well as the shared human-robot collaborative workspace for various configurations of on-robot Time-o…
Cyber-Physical Testbed for Human-Robot Collaborative Task Planning and Execution
Tuly Hazbar, Shitij Kumar, Ferat Sahin
In this paper, we present a cyber-physical testbed created to enable a human-robot team to perform a shared task in a shared workspace. The testbed is suitable for the implementati…
HRC-SoS: Human Robot Collaboration Experimentation Platform as System of Systems
Celal Savur, Shitij Kumar, Sarthak Arora +2
This paper presents an experimentation platform for human robot collaboration as a system of systems as well as proposes a conceptual framework describing the aspects of Human Robo…
Speed and Separation Monitoring using on-robot Time--of--Flight laser--ranging sensor arrays
Shitij Kumar, Sarthak Arora, Ferat Sahin
In this paper, a speed and separation monitoring (SSM) based safety controller using three time-of-flight ranging sensor arrays fastened to the robot links, is implemented. Based o…
Collaborative Robot Learning from Demonstrations using Hidden Markov Model State Distribution
Sulabh Kumra, Ferat Sahin
In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy fro…