Manipulation of objects in 3D space is not always a trivial task. When dealing with touchscreens, finding the correct set of mappings and interactions in three dimensions becomes even more of an issue. Current techniques evaluate 3D interaction regardless of physical properties of our world, aiming for task optimization instead of realism. The purpose of this paper is to evaluate three differen...

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as an object-centric prior for the perception system of a learned policy. We devise an object-level attentional mechanism that can be used to determine relevant...

Manipulating and defining content of configuration files is one of the central tasks of configuration management tools. This is important to ensure a desired and correct behavior of computer systems. However, often considered very simple, this task can turn out to be very challenging. Configuration management tools provide different strategies for content manipulation of files, hence an adminis...

We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge about these objects is provided. The system must interpret the point clouds and decide how to use the tool to complete a manipulation task with a target object;...

We propose a representation and a planning algorithm able to deal with problems integrating task planning as well as motion and manipulation planning knowledge involving several robots and objects. Robot plans often include actions where the robot has to place itself in some position in order to perform some other action or to “modify” the configuration of its environment by displacing objects....

In the present study, an implicit strategy manipulation was used to explore the contribution of memory strategy to brain activation and behavioral performance. Participants were biased to use either a short-term (maintenance-focused) or long-term (retrieval-focused) memory strategy within a single memory task through manipulation of task context. In comparing directly matched trials across the ...

This work presents a new approach of haptic human-robot interaction for joint manipulation of large objects. As a shared manipulation strategy, we propose to decompose any task in different non-honolomic motions (rotations and translations). The intention of the next non-honolomic motion is detected by analysing haptic cues. An experiment with ten subjects is realised to compare this proposed a...

In this work, we present a general approach to task planning based on contingent planning and run-time sensing, which forms part of a robot task planning framework called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipul...

Most users of prosthetic hands must rely on visual feedback alone, which requires visual attention and cognitive resources. Providing haptic feedback of variables relevant to manipulation, such as contact force, may thus improve the usability of prosthetic hands for tasks of daily living. Vibrotactile stimulation was explored as a feedback modality in ten unimpaired participants across eight se...

the operator to choose the most comfortable force combmaOf several possible forms of human-robot collaborative manipulation, we focus on the case where the human and the robot jointly manipulate a common load. In our formulation, the robot’s role is to provide a constraint surface to guide the motion of the load. The value of this form of interaction, in terms of ergonomics, accuracy, or speed,...