Related papers: Robots with Different Embodiments Can Express and …
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and…
Humans learn about objects via interaction and using multiple perceptions, such as vision, sound, and touch. While vision can provide information about an object's appearance, non-visual sensors, such as audio and haptics, can provide…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Recently the field of Human-Robot Interaction gained popularity, due to the wide range of possibilities of how robots can support humans during daily tasks. One form of supportive robots are socially assistive robots which are specifically…
The Robadom project aims at creating a homecare robot that help and assist people in their daily life, either in doing task for the human or in managing day organization. A robot could have this kind of role only if it is accepted by…
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
Implicit communication is crucial in human-robot collaboration (HRC), where contextual information, such as intentions, is conveyed as implicatures, forming a natural part of human interaction. However, enabling robots to appropriately use…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Social robots need to understand the affective state of the humans with whom they interact. Successful interactions require understanding mood and emotion in the short term, and personality and attitudes over longer periods. Social robots…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
Strategies are necessary to mitigate the impact of unexpected behavior in collaborative robotics, and research to develop solutions is lacking. Our aim here was to explore the benefits of an affective interaction, as opposed to a more…
We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…