40 citations · 107 across the 16 of their papers we have counts for
18 papers
Robot Gaze During Autonomous Navigation and its Effect on Social Presence
Kerry He, Wesley P. Chan, Akansel Cosgun +2
As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conform…
Comparing Subjective Perceptions of Robot-to-Human Handover Trajectories
Alexander Calvert, Wesley Chan, Tin Tran +4
Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communicatio…
Autonomous social robot navigation in unknown urban environments using semantic segmentation
Sophie Buckeridge, Pamela Carreno-Medrano, Akansel Cosgun +2
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass a…
Design and Implementation of a Human-Robot Joint Action Framework using Augmented Reality and Eye Gaze
Wesley P. Chan, Morgan Crouch, Khoa Hoang +3
When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these…
On-The-Go Robot-to-Human Handovers with a Mobile Manipulator
Kerry He, Pradeepsundar Simini, Wesley Chan +3
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the…
Design and Evaluation of an Augmented Reality Head-Mounted Display Interface for Human Robot Teams Collaborating in Physically Shared Manufacturing Tasks
Wesley P Chan, Geoffrey Hanks, Maram Sakr +4
We provide an experimental evaluation of a wearable augmented reality (AR) system we have developed for human-robot teams working on tasks requiring collaboration in shared physica…
Metrics for Evaluating Social Conformity of Crowd Navigation Algorithms
Junxian Wang, Wesley P. Chan, Pamela Carreno-Medrano +2
Recent protocols and metrics for training and evaluating autonomous robot navigation through crowds are inconsistent due to diversified definitions of "social behavior". This makes…
ARviz -- An Augmented Reality-enabled Visualization Platform for ROS Applications
Khoa C. Hoang, Wesley P. Chan, Steven Lay +2
Current robot interfaces such as teach pendants and 2D screen displays used for task visualization and interaction often seem unintuitive and limited in terms of information flow.…
A Proposed Set of Communicative Gestures for Human Robot Interaction and an RGB Image-based Gesture Recognizer Implemented in ROS
Jia Chuan A. Tan, Wesley P. Chan, Nicole L. Robinson +2
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. Firs…
An Experimental Validation and Comparison of Reaching Motion Models for Unconstrained Handovers: Towards Generating Humanlike Motions for Human-Robot Handovers
Wesley P. Chan, Tin Tran, Sara Sheikholeslami +1
The Minimum Jerk motion model has long been cited in literature for human point-to-point reaching motions in single-person tasks. While it has been demonstrated that applying minim…
Group Surfing: A Pedestrian-Based Approach to Sidewalk Robot Navigation
Yuqing Du, Nicholas J. Hetherington, Chu Lip Oon +5
In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has charact…
Virtual Barriers in Augmented Reality for Safe and Effective Human-Robot Cooperation in Manufacturing
Khoa Cong Hoang, Wesley P. Chan, Steven Lay +2
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitat…
Seeing Thru Walls: Visualizing Mobile Robots in Augmented Reality
Morris Gu, Akansel Cosgun, Wesley P. Chan +2
We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements…
Demonstrating Cloth Folding to Robots: Design and Evaluation of a 2D and a 3D User Interface
Benjamin Waymouth, Akansel Cosgun, Rhys Newbury +4
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design…
Visualizing Robot Intent for Object Handovers with Augmented Reality
Rhys Newbury, Akansel Cosgun, Tysha Crowley-Davis +3
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typicall…
Autonomous Person-Specific Following Robot
Wesley P. Chan, Sina Radmard, Zhao Quan Hew +3
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots…
Object Handovers: a Review for Robotics
Valerio Ortenzi, Akansel Cosgun, Tommaso Pardi +3
This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the rec…
Supportive Actions for Manipulation in Human-Robot Coworker Teams
Shray Bansal, Rhys Newbury, Wesley Chan +5
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in the…