In the last decade, the objectives outlined by the needs of personal robotics have led to the
rise of new biologically-inspired techniques for arm motion planning. This paper presents a …

In recent years, numerous studies have been conducted to analyze how humans
subconsciously optimize various performance criteria while performing a particular task …

In this paper, we present a general framework for learning social affordance grammar as a
spatiotemporal AND-OR graph (ST-AOG) from RGB-D videos of human interactions, and …

Conventionally, the arm and the hand are considered separately for robotic manipulation
and grasp. The hand configuration and the wrist pose are obtained during grasp planning …

This paper examines the main robot programming strategies and how they are used in the
educational context. We analyze the advantages and drawbacks of the most common …

Natural gestures are a desirable feature for a humanoid robot, as they are presumed to elicit
a more comfortable interaction in people. With this aim in mind, we present in this paper a …

As a mimic of the human arm structure, anthropomorphic manipulators with radial elbow
offset (AMREO) are often deployed on humanoid service robots. However, the unique offset …

The closed-form solution of each rotation joint angle is the most direct and convenient
method for humanoid robot arms to imitate the real-time motion of the human arm …

This paper presents a comparative performance evaluation of three different teleoperation
interfaces for very low weight (< 3 kg) anthropomorphic dual arms intended to conduct …

Learning from demonstration (LfD) has been widely studied as a convenient method for
robot learning. In the LfD paradigm for redundant manipulators, the reproduced trajectories …