Related papers: Robot Communication Via Motion: Closing the Underw…
Significant progress has been made in open-vocabulary mobile manipulation, where the goal is for a robot to perform tasks in any environment given a natural language description. However, most current systems assume a static environment,…
Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
We propose a robust gesture-based communication pipeline for divers to instruct an Autonomous Underwater Vehicle (AUV) to assist them in performing high-risk tasks and helping in case of emergency. A gesture communication language (CADDIAN)…
The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…
Consensus between humans and robots is crucial as robotic agents become more prevalent and deeply integrated into our daily lives. This integration presents both unprecedented opportunities and notable challenges for effective…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
Understanding robot behaviors and experiences through natural language is crucial for developing intelligent and transparent robotic systems. Recent advancement in large language models (LLMs) makes it possible to translate complex,…
We present the design, development, and evaluation of HREyes: biomimetic communication devices which use light to communicate information and, for the first time, gaze direction from AUVs to humans. First, we introduce two types of…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
This study presents a speech-based motion planning strategy (SBMP) developed for lower limb exoskeletons to facilitate safe and compliant human-robot interaction. A speech processing system, finite state machine, and central pattern…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
In this paper, we describe the development of symbolic representations annotated on human-robot dialogue data to make dimensions of meaning accessible to autonomous systems participating in collaborative, natural language dialogue, and to…
When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…
Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…
In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…