Related papers: A Complementary Framework for Human-Robot Collabor…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning. Leveraging the sample-efficiency of the Soft Actor-Critic algorithm, we have implemented a robotic platform able to…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
A limitation for collaborative robots (cobots) is their lack of ability to adapt to human partners, who typically exhibit an immense diversity of behaviors. We present an autonomous framework as a cobot's real-time decision-making mechanism…
When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
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…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…