Related papers: Expressive Robot Motion Timing
Mobile manipulators are increasingly deployed in human-centered environments to perform tasks. While completing such tasks, they should also be able to communicate their intent to the people around them using expressive robot behaviors.…
Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…
Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…
Robotic systems that are intended to augment human capabilities commonly require the use of semi-autonomous control and artificial sensing, while at the same time aiming to empower the user to make decisions and take actions. This work…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
A robot's appearance is a known factor influencing user's mental model and human-robot interaction, that has not been studied in the context of its influence in expected robot explanations. In this study, we investigate whether and to what…
We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks. We use active learning to optimize parameters of rhythmic…
Socially Assistive Robots navigate highly sensible environments, which place high demands on safety and communication with users. The reasoning behind an SAR's actions must be transparent at any time to earn users' trust and acceptance.…
Equipping social and service robots with the ability to perceive human emotional intensities during an interaction is in increasing demand. Most of existing work focuses on determining which emotion(s) participants are expressing from…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…
Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…
Human safety is the most important demand for human robot interaction and collaboration (HRIC), which not only refers to physical safety, but also includes psychological safety. Although many robots with different configurations have…
External Human-Machine Interfaces (eHMI) are widely used on robots and autonomous vehicles to convey the machine's intent to humans. Delivery robots are getting common, and they share the sidewalk along with the pedestrians. Current…
Autonomous robot swarms must be able to make fast and accurate collective decisions, but speed and accuracy are known to be conflicting goals. While collective decision-making is widely studied in swarm robotics research, only few works on…
Time perception is the phenomenological experience of time by an individual. In this paper, we study how to replicate neural mechanisms involved in time perception, allowing robots to take a step towards temporal cognition. Our framework…