4 papers · 1 filter
When May I Help You? On The Effect of Proactivity on Group Human-Robot Collaboration
Thomas Vitry, Vanessa Maeder, Kieran von Valeburg +6
Robot initiative is a central challenge in multi-party human-robot collaboration. A robot that contributes without being addressed may provide timely support, but it may also disru…
Keypoint-based Diffusion for Robotic Motion Planning on the NICOL Robot
Lennart Clasmeier, Jan-Gerrit Habekost, Connor Gäde +2
We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems,…
Robotic Calibration Based on Haptic Feedback Improves Sim-to-Real Transfer
Juraj Gavura, Michal Vavrecka, Igor Farkas +1
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the…
Inverse Kinematics for Neuro-Robotic Grasping with Humanoid Embodied Agents
Jan-Gerrit Habekost, Connor Gäde, Philipp Allgeuer +1
This paper introduces a novel zero-shot motion planning method that allows users to quickly design smooth robot motions in Cartesian space. A Bézier curve-based Cartesian plan is…