Related papers: Trajectory Deformations from Physical Human-Robot …

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

Physical human-robot interaction (pHRI) integrates the benefits of human operator and a collaborative robot in tasks involving physical interaction, with the aim of increasing the task performance. However, the design of interaction…

An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We…

Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…

Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…

The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…

Dexterous manipulation is a crucial yet highly complex challenge in humanoid robotics, demanding precise, adaptable, and sample-efficient learning methods. As humanoid robots are usually designed to operate in human-centric environments and…

Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

Physical human-robot interaction (pHRI) remains a key challenge for achieving intuitive and safe interaction with robots. Current advancements often rely on external tactile sensors as interface, which increase the complexity of robotic…

This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…

This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…

Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…

Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…

Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…

While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or part-wise rigid objects-limiting their ability to model real-world objects (e.g., cloth, stuffed animals) that…

Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…

Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine…

The use of social, anthropomorphic robots to support humans in various industries has been on the rise. During Human-Robot Interaction (HRI), physically interactive non-verbal behaviour is key for more natural interactions. Handshaking is…

This study introduces the development of hands-free control schemes for a riding ballbot, designed to allow riders including manual wheelchair users to control its movement through torso leaning and twisting. The hardware platform, Personal…