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This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
One of the keys to the success of collaborative learning is balanced participation by all learners, but this does not always happen naturally. Pedagogical robots have the potential to facilitate balance. However, it remains unclear what…
The integration of humanoid and animal-shaped robots into specialized domains, such as healthcare, multi-terrain operations, and psychotherapy, necessitates a deep understanding of proxemics--the study of spatial behavior that governs…
Claims that humanoid robots achieve ``human-level'' actuation are common but rarely quantified. Peak torque or speed specifications tell us little about whether a joint can deliver the right combination of torque, power, and endurance at…
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…
When we go for a walk with friends, we can observe an interesting effect: From step lengths to arm movements - our movements unconsciously align; they synchronize. Prior research found that this synchronization is a crucial aspect of human…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
Social compatibility is one of the most important parameters for service robots. It characterizes the quality of interaction between a robot and a human. In this paper, a human-centered benchmarking framework is proposed for…
The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that…
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adjust the control input sent to the robot to assist the…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
As the autonomy and capabilities of robotic systems increase, they are expected to play the role of teammates rather than tools and interact with human collaborators in a more realistic manner, creating a more human-like relationship. Given…
This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…