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Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…

Humans and robots are increasingly working in personal and professional settings. In workplace settings, humans and robots may work together as colleagues, potentially leading to social expectations, or violation thereof. Extant research…

An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot's ability to learn…

Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we…

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

Gaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge…

Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…

Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…

The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…

While trust in human-robot interaction is increasingly recognized as necessary for the implementation of social robots, our understanding of regulating trust in human-robot interaction is yet limited. In the current experiment, we evaluated…

A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact…

Human-robot interaction is becoming an interesting area of research in cognitive science, notably, for the study of social cognition. Interaction theorists consider primary intersubjectivity a non-mentalist, pre-theoretical, non-conceptual…

The design and control of soft robots operating in fluid environments requires a careful understanding of the interplay between large elastic body deformations and hydrodynamic forces. Here we show that this interplay leads to novel…

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…

To interact seamlessly with robots, users must infer the causes of a robot's behavior and be confident about that inference. Hence, trust is a necessary condition for human-robot collaboration (HRC). Despite its crucial role, it is largely…

The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…