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This article introduces a novel heuristic for Task and Motion Planning (TAMP) named Interpretable Responsibility Sharing (IRS), which enhances planning efficiency in domestic robots by leveraging human-constructed environments and inherent…
This paper describes a method of estimating the intention of a user's motion in a robot tele-operation scenario. One of the issues in tele-operation is latency, which occurs due to various reasons such as a slow robot motion and a narrow…
An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
In multiple realistic settings, a robot is tasked with grasping an object without knowing its exact pose and relies on a probabilistic estimation of the pose to decide how to attempt the grasp. We support settings in which it is possible to…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects. Historically, the concept derives from the literature in psychology and cognitive science, where…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Higher frequencies that are introduced in 5G networks cause rapid signal degradation and challenge user mobility. In recent studies, a conditional handover procedure has been adopted for 5G networks to enhance user mobility robustness. In…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Human-human joint-action in short-cycle repetitive handover tasks was investigated for a bottle handover task using a three-fold approach: work-methods field studies in multiple supermarkets, simulation analysis using an ergonomics software…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…
Most research on human-robot handovers focuses on the development of comfortable and efficient HRI; few have studied handover failures. If a failure occurs in the beginning of the interaction, it prevents the whole handover process and…
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…
Visual affordance segmentation identifies the surfaces of an object an agent can interact with. Common challenges for the identification of affordances are the variety of the geometry and physical properties of these surfaces as well as…