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Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
Telepresence robots are used in various forms in various use-cases that helps to avoid physical human presence at the scene of action. In this work, we focus on a telepresence robot that can be used to attend a meeting remotely with a group…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Remote manipulation is emerging as one of the key robotics tasks needed in extreme environments. Several researchers have investigated how to add AI components into shared controllers to improve their reliability. Nonetheless, the impact of…
Socially assistive robots have the potential to improve group dynamics when interacting with groups of people in social settings. This work contributes to the understanding of those dynamics through a user study of trust dynamics in the…
As robotic teammates become more common in society, people will assess the robots' roles in their interactions along many dimensions. One such dimension is effectiveness: people will ask whether their robotic partners are trustworthy and…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…
The use of semi-autonomous and autonomous robotic assistants to aid in care of the elderly is expected to ease the burden on human caretakers, with small-stage testing already occurring in a variety of countries. Yet, it is likely that…
One of the first and foremost non-verbal interactions that humans perform is a handshake. It has an impact on first impressions as touch can convey complex emotions. This makes handshaking an important skill for the repertoire of a social…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared control method, in which the robot navigates autonomously…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
A single service robot can present two distinct agencies: its onboard autonomy and an operator-mediated agency, yet users experience them through one physical body. We formalize this dual-agency structure as a User-Robot-Operator triad in…
As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…