Related papers: Towards Partner-Aware Humanoid Robot Control Under…

With recent advancements in AI and computation tools, intelligent paradigms emerged to empower different fields such as healthcare robots with new capabilities. Advanced AI robotic algorithms (e.g., reinforcement learning) can be trained…

Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…

While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…

The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However,…

This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…

Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…

When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…

Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…

This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…

This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…

Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…

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…

With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…

In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…

In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…

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…