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In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
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 current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…
Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
An important current challenge in Human-Robot Interaction (HRI) is to enable robots to learn on-the-fly from human feedback. However, humans show a great variability in the way they reward robots. We propose to address this issue by…
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…
For humans and robots to form an effective human-robot team (HRT) there must be sufficient trust between team members throughout a mission. We analyze data from an HRT experiment focused on trust dynamics in teams of one human and two…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…