Related papers: Human-State-Aware Controller for a Tethered Aerial…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
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…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
Cane-type robots have been utilized to assist and supervise the mobility-impaired population. One essential technique for cane-type robots is human following control, which allows the robot to follow the user. However, the limited…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…