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We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging,…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research…
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic…
Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understanding of both the robot's own state and the surrounding…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…
[Context] Interviewing stakeholders is the most popular requirements elicitation technique among multiple methods. The success of an interview depends on the collaboration of the interviewee which can be fostered through the interviewer's…
Robots must balance compliance with safety and social expectations as blind obedience can cause harm, while over-refusal erodes trust. Existing safe reinforcement learning (RL) benchmarks emphasize physical hazards, while human-robot…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded…
Effective communication is essential in collaborative tasks, so AI-equipped robots working alongside humans need to be able to explain their behaviour in order to cooperate effectively and earn trust. We analyse and classify communications…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
We consider the problem of Embodied Question Answering (EQA), which refers to settings where an embodied agent such as a robot needs to actively explore an environment to gather information until it is confident about the answer to a…
With the increasing presence of robotic systems and human-robot environments in today's society, understanding the reasoning behind actions taken by a robot is becoming more important. To increase this understanding, users are provided with…
Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platforms have been designed to consider reaching casualties and…