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Natural Human-Robot Interaction (HRI) is one of the key components for service robots to be able to work in human-centric environments. In such dynamic environments, the robot needs to understand the intention of the user to accomplish a…

While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…

Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…

This paper shows and evaluates a novel approach to integrate a non-invasive Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to mentally drive a telepresence robot. Controlling a mobile device by using human brain…

This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…

A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…

In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the…

High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…

This article proposes an emotive lifelike robotic face, called ExpressionBot, that is designed to support verbal and non-verbal communication between the robot and humans, with the goal of closely modeling the dynamics of natural…

Human-robot interaction (HRI) is an interdisciplinary field that utilises both quantitative and qualitative methods. While ROSBags, a file format within the Robot Operating System (ROS), offer an efficient means of collecting temporally…

Robotics is incredibly fun and is long recognized as a great way to teach programming, while drawing inspiring connections to other branches of engineering and science such as maths, physics or electronics. Although this symbiotic…

Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…

In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…

Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…

Virtual reality has proved to be useful in applications in several fields ranging from gaming, medicine, and training to development of interfaces that enable human-robot collaboration. It empowers designers to explore applications outside…

Autonomous vehicles (AVs) rely on complex perception and communication systems, making them vulnerable to adversarial attacks that can compromise safety. While simulation offers a scalable and safe environment for robustness testing,…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…

This paper describes an initiation of interaction(IoI) detection framework without keywords for human-robot interaction(HRI) based on audio and vision sensor fusion in a domestic environment. In the proposed framework, the robot has its own…

In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…

Current robot interfaces such as teach pendants and 2D screen displays used for task visualization and interaction often seem unintuitive and limited in terms of information flow. This compromises task efficiency as interacting with the…