Related papers: Flexible human-robot cooperation models for assist…
Transparency is a key factor in improving the performance of human-robot interaction. A transparent interface allows humans to be aware of the state of a robot and to assess the progress of the tasks at hand. When multi-robot systems are…
The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Industry 5.0 focuses on human-centric collaboration between humans and robots, prioritizing safety, comfort, and trust. This study introduces a data-driven framework to assess trust using behavioral indicators. The framework employs a…
One of the key challenges in the collaboration within heterogeneous multi-robot systems is the optimization of the amount and type of data to be shared between robots with different sensing capabilities and computational resources. In this…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present its potential use in nursing by extending its capabilities…
Adhering to current HRI paradigms, all of the sensors, visualisation and legibility of actions and motions are borne by the robot or its working cell. This necessarily makes robots more complex or confines them into specialised, structured…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…