Jim Mainprice

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In this paper we present a framework that allows a human and a robot to perform simultaneous manipulation tasks safely in close proximity. The proposed framework is based on early prediction of the human's motion. The prediction system, which builds on previous work in the area of gesture recognition, generates a prediction of human workspace occupancy by(More)
This paper addresses the motion planning problem while considering Human-Robot Interaction (HRI) constraints. The proposed planner generates collision-free paths that are acceptable and legible to the human. The method extends our previous work on human-aware path planning to cluttered environments. A randomized cost-based exploration method provides an(More)
This paper presents our progress toward a user-guided manipulation framework for High Degree-of-Freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface which assists the user to provide task level commands to the robot, (2) planning algorithms that(More)
To enable safe and efficient human-robot collaboration in shared workspaces, it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very challenging, we argue that single-arm reaching motions for known tasks in collaborative settings (which are especially relevant(More)
Over the last two years, the Modular OpenRobots Simulation Engine (MORSE) project<sup>1</sup> went from a simple extension plugged on the Blender's <i>Game Engine</i> to a full-fledged simulation environment for academic robotics. Driven by the requirements of several of its developers, tools dedicated to Human-Robot interaction simulation have taken a(More)
For a versatile human-assisting mobilemanipulating robot such as the PR2, handing over objects to humans in possibly cluttered workspaces is a key capability. In this paper we investigate the motion planning of handovers while accounting for the human mobility. We treat the human motion as part of the planning problem thus enabling to find broader type of(More)
Theatre with robotic actors is an emerging field, with a few previous published results [1, 2, 3]. On the 14th of October 2011, we performed for a general public audience (over 300 persons) a 18 min long live theatre play, acted by professional actor Xavier Brossard and the LAAS/CNRS PR2 robot. The play was created and directed by Nicolas Darrot, a(More)
While grasping and manipulation in highly-controlled scenarios such as in factories is already possible, it remains unclear how a robot can achieve this autonomously in realworld scenarios that are characterized by a high degree of uncertainty. This uncertainty can be attributed to partial and noisy observations, a dynamic, constantly changing world and(More)