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The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
One way to allow elderly people to stay longer in their homes is to use of service robots to support them with everyday tasks. With this goal, we design, develop and evaluate a low-cost mobile robot to communicate with elderly people. The…
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Interactions with electronic devices are changing in our daily lives. The day-to-day development brings curiosity to recent technology and challenges its use. The gadgets are becoming cumbersome, and their usage frustrates a segment of…
In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Control Framework. While the former is state-based and…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
SocialRobot is a collaborative European project, which focuses on providing a practical and interactive solution to improve the quality of life of elderly people. Having this in mind, a state of the art robotic mobile platform has been…
The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…
As social robots become increasingly prevalent in day-to-day environments, they will participate in conversations and appropriately manage the information shared with them. However, little is known about how robots might appropriately…
With an increasing need for elderly and disability care, there is an increasing opportunity for intelligent and mobile devices such as robots to provide care and support solutions. In order to naturally assist and interact with humans, a…
Recent advances in control robot methods, from end-to-end vision-language-action frameworks to modular systems with predefined primitives, have advanced robots' ability to follow natural language instructions. Nonetheless, many approaches…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
It would be useful for machines to use computers as humans do so that they can aid us in everyday tasks. This is a setting in which there is also the potential to leverage large-scale expert demonstrations and human judgements of…
Children with Autism Spectrum Disorder find robots easier to communicate with than humans. Thus, robots have been introduced in autism therapies. However, due to the environmental complexity, the used robots often have to be controlled…
Assistive robots have attracted significant attention due to their potential to enhance the quality of life for vulnerable individuals like the elderly. The convergence of computer vision, large language models, and robotics has introduced…
As social robots see increasing deployment within the general public, improving the interaction with those robots is essential. Spoken language offers an intuitive interface for the human-robot interaction (HRI), with dialogue management…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…