Related papers: Human-Aware Physical Human-Robot Collaborative Tra…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the multiple aerial robots transportation system (MARTS) still lack…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
We present a multimodal interaction framework suitable for a human rescuer that operates in proximity with a set of co-located drones during search missions. This work is framed in the context of the SHERPA project whose goal is to develop…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…
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…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…