Related papers: Human Robot Collaborative Assembly Planning: An An…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has demonstrated potential…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…
Humans have an impressive ability to solve complex coordination problems in a fully distributed manner. This ability, if learned as a set of distributed multirobot coordination strategies, can enable programming large groups of robots to…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
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)…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Robot sequential decision-making in the real world is a challenge because it requires the robots to simultaneously reason about the current world state and dynamics, while planning actions to accomplish complex tasks. On the one hand,…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Robots assisting humans in complex domains have to represent knowledge and reason at both the sensorimotor level and the social level. The architecture described in this paper couples the non-monotonic logical reasoning capabilities of a…
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…