Daniel Rakita

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In this paper, we introduce a novel interface that allows novice users to effectively and intuitively tele-operate robot manipulators. The premise of our method is that an interface that allows its user to direct a robot arm using the natural 6-DOF space of his/her hand would afford effective direct control of the robot; however, a direct mapping between(More)
We present an approach for adding directed gaze movements to characters animated using full-body motion capture. Our approach provides a comprehensive authoring solution that automatically infers plausible directed gaze from the captured body motion, provides convenient controls for manual editing, and adds synthetic gaze movements onto the original motion.(More)
Planning effective arm motions is integral to manipulation tasks. In general, motion synthesis methods have focused on functional objectives, such as minimizing time and maximizing efficiency. However, recent work in humanrobot collaboration suggests that choices in motion design can influence collaboration performance and quality. Some motion designs are(More)
In this paper we provide a method for identifying and temporally localizing tactile force actions from measured force signals. Our key idea is to use the continuous wavelet transform (CWT) with the Complex Morlet wavelet to transform force signals into feature vectors amenable to machine learning algorithms. Our method uses these feature vectors to train a(More)
Interactions with simulated robots are typically presented on screens. Virtual reality (VR) offers an attractive alternative as it provides visual cues that are more similar to the real world. In this paper, we explore how virtual reality mediates human-robot interactions through two user studies. The first study shows that in situations where perception of(More)
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