Related papers: Object Handovers: a Review for Robotics
Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…
Safety in human-robot interaction can be divided into physical safety and perceived safety, where the latter is still under-addressed in the literature. Investigating perceived safety in human-robot interaction requires a multidisciplinary…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow…
As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
This paper introduces the YCB-Handovers dataset, capturing motion data of 2771 human-human handovers with varying object weights. The dataset aims to bridge a gap in human-robot collaboration research, providing insights into the impact of…
The rapid advancement of robotics, spanning expanded capabilities, more intuitive interaction, and more integration into real-world workflows, is reshaping what it means for humans and robots to coexist. Beyond sharing physical space, this…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
We present the HOH (Human-Object-Human) Handover Dataset, a large object count dataset with 136 objects, to accelerate data-driven research on handover studies, human-robot handover implementation, and artificial intelligence (AI) on…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
Handshakes are fundamental and common greeting and parting gestures among humans. They are important in shaping first impressions as people tend to associate character traits with a person's handshake. To widen the social acceptability of…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
Supernumerary robotic limbs (SRLs) are robotic structures integrated closely with the user's body, which augment human physical capabilities and necessitate seamless, naturalistic human-machine interaction. For effective assistance in…
To make safe transitions from autonomous to manual control, a vehicle must have a representation of the awareness of driver state; two metrics which quantify this state are the Observable Readiness Index and Takeover Time. In this work, we…
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…
For robots to be effectively deployed in novel environments and tasks, they must be able to understand the feedback expressed by humans during intervention. This can either correct undesirable behavior or indicate additional preferences.…