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The integration of dialogue interfaces in mobile devices has become ubiquitous, providing a wide array of services. As technology progresses, humanoid robots designed with human-like features to interact effectively with people are gaining…
Automated vehicles (AVs) are gradually becoming part of our daily lives. However, effective communication between road users and AVs remains a significant challenge. Although various external human-machine interfaces (eHMIs) have been…
Zoomorphic Socially Assistive Robots (SARs) offer an alternative source of social touch for individuals who cannot access animal companionship. However, current SARs provide only limited, passive touch-based interactions and lack the rich…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
In the past, several models of consciousness have become popular and have led to the development of models for machine consciousness with varying degrees of success and challenges for simulation and implementations. Moreover, affective…
In this paper, we present CAIO, a Cognitive and Affective Interaction-Oriented architecture for social human-robot interactions (HRI), allowing robots to reason on mental states (including emotions), and to act physically, emotionally and…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Our goal is to enable robots to \emph{time} their motion in a way that is purposefully expressive of their internal states, making them more transparent to people. We start by investigating what types of states motion timing is capable of…
In this paper we present a fully autonomous and intrinsically motivated robot usable for HRI experiments. We argue that an intrinsically motivated approach based on the Predictive Information formalism, like the one presented here, could…
Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and…
Ability to generate intelligent and generalizable facial expressions is essential for building human-like social robots. At present, progress in this field is hindered by the fact that each facial expression needs to be programmed by…
Physical embodiment is a required component for robots that are structurally coupled with their real-world environments. However, most socially interactive robots do not need to physically interact with their environments in order to…
Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
Affective interaction is not merely about recognizing emotions; it is an embodied, situated process shaped by context and co-created through interaction. In affective computing, the role of haptic feedback within dynamic emotional exchanges…
In this paper, we introduce an extension of our presented cognitive-based emotion model [27][28]and [30], where we enhance our knowledge-based emotion unit of the architecture by embedding a fuzzy rule-based system to it. The model utilizes…
The potential of Animal-Robot Interaction (ARI) in welfare applications depends on how much an animal perceives a robotic agent as socially relevant, non-threatening and potentially attractive (acceptance). Here, we present an…
We present a minimalist social robot that relies on long timeseries of low resolution data such as mechanical vibration, temperature, lighting, sounds and collisions. Our goal is to develop an experimental system for growing socially…