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This paper describes the initial steps towards the design of a robotic system that intends to perform actions autonomously in a naturalistic play environment. At the same time it aims for social human-robot interaction~(HRI), focusing on…
Human-robot interaction (HRI) encompasses a wide range of collaborative tasks, with handover being one of the most fundamental. As robots become more integrated into human environments, the potential for service robots to assist in handing…
Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
In the last decade, UAVs have become a widely used technology. As they are used by both professionals and amateurs, there is a need to explore different control modalities to make control intuitive and easier, especially for new users. In…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
As autonomous machines such as robots and vehicles start performing tasks involving human users, ensuring a safe interaction between them becomes an important issue. Translating methods from human-robot interaction (HRI) studies to the…
Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between…
We present a multimodal interaction framework suitable for a human rescuer that operates in proximity with a set of co-located drones during search missions. This work is framed in the context of the SHERPA project whose goal is to develop…
Drones operating in human-occupied spaces suffer from insufficient communication mechanisms that create uncertainty about their intentions. We present HoverAI, an embodied aerial agent that integrates drone mobility,…
Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Human-AI collaboration is typically offered in one of two of user control levels: guidance, where the AI provides suggestions and the human makes the final decision, and delegation, where the AI acts autonomously within user-defined…
We propose Hand-Eye Autonomous Delivery (HEAD), a framework that learns navigation, locomotion, and reaching skills for humanoids, directly from human motion and vision perception data. We take a modular approach where the high-level…
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…