Related papers: How to Formally Model Human in Collaborative Robot…
In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…
The shift in research focus from Industry 4.0 to Industry 5.0 (I5.0) promises a human-centric workplace, with social and well-being values at the centre of technological implementation. Human-Robot Collaboration (HRC) is a core aspect of…
During the planning phase of industrial robot workplaces, hazard analyses are required so that potential hazards for human workers can be identified and appropriate safety measures can be implemented. Existing hazard analysis methods use…
In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…
Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities)…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
An outstanding challenge with safety methods for human-robot interaction is reducing their conservatism while maintaining robustness to variations in human behavior. In this work, we propose that robots use confidence-aware game-theoretic…
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…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
With the continuous breakthroughs in core technology, the dawn of large-scale integration of robotic systems into daily human life is on the horizon. Multi-robot systems (MRS) built on this foundation are undergoing drastic evolution. The…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…
This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…