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How should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these…
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on manual "air tap" gestures for goal…
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework…
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In…
In this paper we introduce the core results of the project on software development for social robotics systems. The usability of maintenance and control features is crucial for many kinds of systems, but in the case of social robotics we…
In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Evaluation of social robot navigation inherently requires human input due to its qualitative nature. Motivated by the need to scale human evaluation, we propose a general method for deploying interactive, rich-client robotic simulations on…
In recent years, various intelligent autonomous robots have begun to appear in daily life and production. Desktop-level robots are characterized by their flexible deployment, rapid response, and suitability for light workload environments.…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as Generative Pre-trained Transformers (GPTs) and autoregressive…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
BRILLO (Bartending Robot for Interactive Long-Lasting Operations) project has the overall goal of creating an autonomous robotic bartender that can interact with customers while accomplishing its bartending tasks. In such a scenario,…
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control…
In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…
The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System…
Emotion recognition and touch gesture decoding are crucial for advancing human-robot interaction (HRI), especially in social environments where emotional cues and tactile perception play important roles. However, many humanoid robots, such…
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request information, and receive status updates from a Spot robot. We…