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Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The…
The use of mobile robots is being popular over the world mainly for autonomous explorations in hazardous/ toxic or unknown environments. This exploration will be more effective and efficient if the explorations in unknown environment can be…
Tactile interaction plays a crucial role in interactions between people. Touch can, for example, help people calm down and lower physiological stress responses. Consequently, it is believed that tactile and haptic interaction matter also in…
Social robots, owing to their embodied physical presence in human spaces and the ability to directly interact with the users and their environment, have a great potential to support children in various activities in education, healthcare…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…
Current technologies have enabled us to track and quantify our physical state and behavior. Self-tracking aims to achieve increased awareness to decrease undesired behaviors and lead to a healthier lifestyle. However, inappropriately…
This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different levels of autonomy (LOA), initiated by either the AI or the human…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…
We found that children in elementary school often experience stress during task performance. Limited coping skills and lack of stress awareness restrict children's ability to manage their stress. Many designs and studies have proposed…
Social robots need intelligence in order to safely coexist and interact with humans. Robots without functional abilities in understanding others and unable to empathise might be a societal risk and they may lead to a society of socially…
Artificial visual attention systems aim to support technical systems in visual tasks by applying the concepts of selective attention observed in humans and other animals. Such systems are typically evaluated against ground truth obtained…
The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
Recent work leverages the capabilities and commonsense priors of generative models for robot control. In this paper, we present an agentic control system in which a reasoning-capable language model plans and executes tasks by selecting and…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…
Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…
This paper explores the concept of reflexive actuation, examining how robots may leverage both internal and external stimuli to trigger changes in the motion, performance, or physical characteristics of the robot, such as its size, shape,…
In this paper we present a fully autonomous and intrinsically motivated robot usable for HRI experiments. We argue that an intrinsically motivated approach based on the Predictive Information formalism, like the one presented here, could…