Related papers: Analysis of Rigid Extended Object Co-Manipulation …
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
A question that many researchers in social robotics are addressing is how to create more human-like behaviour in robots to make the collaboration between a human and a robot more intuitive to the human partner. In order to develop a…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
With momentum increasing in the use of social robots as long-term assistive and collaborative partners, humans developing social bonds with these artificial agents appears to be inevitable. In human-human dyads, social bonding plays a…
Human teams can be exceptionally efficient at adapting and collaborating during manipulation tasks using shared mental models. However, the same shared mental models that can be used by humans to perform robust low-level force and motion…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Many cooperative physical tasks require that individuals play specialized roles (e.g., leader-follower). Humans are adept cooperators, negotiating these roles and transitions between roles innately. Yet how roles are delegated and…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…