This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing LfD frameworks suffers in such interactions due to the high dimensionality and spatiotemporal sparsity of the demonstration data. We show that by leveraging this sparsity, we can reduce the data dimensionality without incurring a significant accuracy penalty, and introduce three strategies for doing so. By combining these techniques with an LfD framework for learning multimodal human-robot interactions, we can model the spatiotemporal relationship between the tactile and kinesthetic information during whole-body haptic interactions. Using a teleoperated bimanual robot equipped with 61 force sensors, we experimentally demonstrate that a model trained with 121 sample hugs from 4 participants generalizes well to unseen inputs and human partners.
HaptiNet: Networked Haptic Robots Enable Physical Co-presence in Geographically-Unconstrained Rehabilitation
Southern University of Science and Technology（南方科技大学）；Harbin Institute of Technology（哈尔滨工业大学）；Beijing University of Technology（北京工业大学）；Shenzhen University of Advanced Technology General Hospital（深圳理工大学总医院）；Tianjin University Tianjin Hospital（天津大学天津医院）；Tianjin University of Sport（天津体育学院）；National Research Center for Rehabilitation Technical Aids（国家康复辅具研究中心）；University of Manchester（曼彻斯特大学）；Huazhong University of Science and Technology（华中科技大学）；The University of Portsmouth（朴茨茅斯大学）；King's College London（伦敦国王学院）
Ritsumeikan University（立命馆大学）；The University of Electro-Communications（电气通信大学）；Okayama Prefectural University（冈山县立大学）；Waseda University（早稻田大学）；National Institute of Advanced Industrial Science and Technology（产业技术综合研究所）
H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies
Embodied AI and Robotics Lab, New York University Abu Dhabi, UAE（纽约大学阿布扎比分校人机一体人工智能与机器人实验室）；Center for AI and Robotics, New York University Abu Dhabi, UAE（纽约大学阿布扎比分校人工智能与机器人中心）
The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception
Institute for Clarity in Documentation（文档清晰研究所）；Inria Paris-Rocquencourt（巴黎-罗quentourt研究所）；Rajiv Gandhi University（拉贾·甘地大学）；Tsinghua University（清华大学）；Palmer Research Laboratories（帕勒实验室）
Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays
Robotics System Lab (RSL), ETH Zurich（苏黎世联邦理工学院机器人系统实验室）；Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT)（意大利理工学院动态腿足系统实验室）；Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente（特文特大学电气工程、数学与计算机科学学院）
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
Institute of Perception, Action and Behaviour, School of Informatics, The University of Edinburgh（爱丁堡大学信息学院感知、行动与行为研究所）；Oxford Robotics Institute at the University of Oxford（牛津大学牛津机器人研究所）；School of Computer Science/Department of Electrical and Computer Engineering at McGill University（麦吉尔大学计算机科学学院/电气与计算机工程系）
Exploring Embodied Emotional Communication: A Human-oriented Review of Mediated Social Touch
School of Mechanical Engineering and Automation, Beihang University（北京航空航天大学机械工程及自动化学院）；College of Arts and Design, Beijing University of Chemical Technology（北京化工大学艺术与设计学院）；Faculty of Industrial Design Engineering, Delft University of Technology（代尔夫特理工大学工业设计工程学院）；School of electronic information and electrical engineering, Shanghai Jiao Tong University（上海交通大学电子信息与电气工程学院）
