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We are approaching a future where social robots will progressively become widespread in many aspects of our daily lives, including education, healthcare, work, and personal use. All of such practical applications require that humans and…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…
This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition,…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
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…
Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
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…
In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…
Human-robot collaboration (HRC) relies on accurate and timely recognition of human intentions to ensure seamless interactions. Among common HRC tasks, human-to-robot object handovers have been studied extensively for planning the robot's…
In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Successful entrainment during collaboration positively affects trust, willingness to collaborate, and likeability towards collaborators. In this paper, we present a mixed-method study to investigate characteristics of successful entrainment…
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…
The human-robot interaction (HRI) field has recognized the importance of enabling robots to interact with teams. Human teams rely on effective communication for successful collaboration in time-sensitive environments. Robots can play a role…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…