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Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
Controlling contacts is truly challenging, and this has been a major hurdle to deploying industrial robots into unstructured/human-centric environments. More specifically, the main challenges are: (i) how to ensure stability at all times;…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…
In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…
Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…
The article explores the intersection of computer vision technology and robotic control, highlighting its importance in various fields such as industrial automation, healthcare, and environmental protection. Computer vision technology,…
Emotion expressions serve as important communicative signals and are crucial cues in intuitive interactions between humans. Hence, it is essential to include these fundamentals in robotic behavior strategies when interacting with humans to…
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…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…