Related papers: A Data-Driven Approach for Contact Detection, Clas…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…
Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
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 examines the effect of real-time, personalized alignment of a robot's reward function to the human's values on trust and team performance. We present and compare three distinct robot interaction strategies: a non-learner strategy…
Human-robot interaction can be divided into two categories based on the physical distance between the human and robot: remote and proximal. In proximal interaction, the human and robot often engage in close coordination; in remote…
There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference…
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 number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…
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.…
Performing joint interaction requires constant mutual monitoring of own actions and their effects on the other's behaviour. Such an action-effect monitoring is boosted by social cues and might result in an increasing sense of agency. Joint…
In collaborative human-robot tasks, safety requires not only avoiding collisions but also ensuring safe, intentional physical contact. We present ContactRL, a reinforcement learning (RL) based framework that directly incorporates contact…
Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accurate human-robot interaction intent detection that fuses…
Tactile interaction plays a crucial role in interactions between people. Touch can, for example, help people calm down and lower physiological stress responses. Consequently, it is believed that tactile and haptic interaction matter also in…
Despite the notable progress made in action recognition tasks, not much work has been done in action recognition specifically for human-robot interaction. In this paper, we deeply explore the characteristics of the action recognition task…
This article presents a method for learning well-coordinated Human-Robot Interaction (HRI) from Human-Human Interactions (HHI). We devise a hybrid approach using Hidden Markov Models (HMMs) as the latent space priors for a Variational…
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…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…