Related papers: A Safety-Aware Kinodynamic Architecture for Human-…
What happens when your walls begin to move? This paper explores the design of human-robot interaction for architectural-scale, shape-changing environments. We present findings from two studies: (1) a series of speculative design workshops…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
This work compares three interaction modalities for human-robot collaboration: passive, reactive, and proactive. We studied 18 participants assembling a seven-layer colored tower from memory while using nearby and distant blocks. In the…
Humans interacting with robots often form predictions of what the robot will do next. For instance, based on the recent behavior of an autonomous car, a nearby human driver might predict that the car is going to remain in the same lane. It…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…
This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…
In Human-Robot Collaboration, safety mechanisms such as Speed and Separation Monitoring and Power and Force Limitation dynamically adjust the robot's speed based on human proximity. While essential for risk reduction, these mechanisms…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limiting their direct use. We present a two-stage pipeline for…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…