Related papers: Shared Control of Robot-Robot Collaborative Liftin…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
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…
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…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
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,…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…