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Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…
We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality environments, the VRGym emphasizes on building and training both physical and interactive agents for…
Prototyping is an important part in research and development of tangible user interfaces (TUIs). On the way from the idea to a working prototype, new hardware prototypes usually have to be crafted repeatedly in numerous iterations. This…
Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhances this perceptual process, creating a more comprehensive…
In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…
Human-robot interaction benefits greatly from multimodal sensor inputs as they enable increased robustness and generalization accuracy. Despite this observation, few HRI methods are capable of efficiently performing inference for multimodal…
This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification…
Robotic manipulators are increasingly used to assist individuals with mobility impairments in object retrieval. However, the predominant joystick-based control interfaces can be challenging due to high precision requirements and unintuitive…
Evaluating human-robot social interactions in a rigorous manner is notoriously difficult: studies are either conducted in labs with constrained protocols to allow for robust measurements and a degree of replicability, but at the cost of…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…
Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model reference admittance controller is developed to maintain compliance…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…
We introduce BenchBot, a novel software suite for benchmarking the performance of robotics research across both photorealistic 3D simulations and real robot platforms. BenchBot provides a simple interface to the sensorimotor capabilities of…
Human safety is critical in applications involving close human-robot interactions (HRI) and is a key aspect of physical compatibility between humans and robots. While measures of human safety in HRI exist, these mainly target industrial…
Cooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation and to bridge the gap between development and real-world deployment. However, their complexity and cost often hinder its…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
As social robots become increasingly prevalent in day-to-day environments, they will participate in conversations and appropriately manage the information shared with them. However, little is known about how robots might appropriately…