Related papers: Model Predictive Control with Gaussian Processes f…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
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…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
We examine how a human-robot interaction (HRI) system may be designed when input-output data from previous experiments are available. In particular, we consider how to select an optimal impedance in the assistance design for a cooperative…
Emotion expressions serve as important communicative signals and are crucial cues in intuitive interactions between humans. Hence, it is essential to include these fundamentals in robotic behavior strategies when interacting with humans to…
Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…
For effective human-agent teaming, robots and other artificial intelligence (AI) agents must infer their human partner's abilities and behavioral response patterns and adapt accordingly. Most prior works make the unrealistic assumption that…
The combination of collaborative robots and end-to-end AI, promises flexible automation of human tasks in factories and warehouses. However, such promise seems a few breakthroughs away. In the meantime, humans and cobots will collaborate…
Interaction with a robot partner requires many elements, including not only speech but also embodiment. Thus, gestural and facial expressions are important for communication. Furthermore, understanding human movements is essential for safe…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
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…
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound…
Human-machine interaction has been around for several decades now, with new applications emerging every day. One of the major goals that remain to be achieved is designing an interaction similar to how a human interacts with another human.…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…