Related papers: A Complementary Framework for Human-Robot Collabor…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
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…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
Human-robot collaboration (HRC) in a shared workspace has become a common pattern in real-world robot applications and has garnered significant research interest. However, most existing studies for human-in-the-loop (HITL) collaboration…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition,…
Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational…
This paper aims to develop a new human-machine interface to improve rehabilitation performance from the perspective of both the user (patient) and the machine (robot) by introducing the co-adaption techniques via model-based reinforcement…
An autonomous robot that is able to physically guide humans through narrow and cluttered spaces could be a big boon to the visually-impaired. Most prior robotic guiding systems are based on wheeled platforms with large bases with actuated…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…