Related papers: A framework for robotic arm pose estimation and mo…
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,…
AI-controlled robotic systems pose a risk to human workers and the environment. Classical risk assessment methods cannot adequately describe such black box systems. Therefore, new methods for a dynamic risk assessment of such AI-controlled…
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…
Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Predicting human trajectory is crucial for social robot navigation in crowded environments. While most existing approaches treat human as point mass, we present a study on multi-agent trajectory prediction that leverages different human…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
This paper introduces the notion of danger awareness in the context of Human-Robot Interaction (HRI), which decodes whether a human is aware of the existence of the robot, and illuminates whether the human is willing to engage in enforcing…
{Recognizing human interactions is essential for social robots as it enables them to navigate safely and naturally in shared environments. Conventional robotic systems however often focus on obstacle avoidance, neglecting social cues…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a…
Automatic recognition and classification of tasks in robotic surgery is an important stepping stone toward automated surgery and surgical training. Recently, technical breakthroughs in gathering data make data-driven model development…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…