Related papers: Perirobot space representation for HRI: measuring …
Human-robot collaboration including close physical human-robot interaction (pHRI) is a current trend in industry and also science. The safety guidelines prescribe two modes of safety: (i) power and force limitation and (ii) speed and…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i)…
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,…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…
For physical human-robot interactions (pHRI), a robot needs to estimate the accurate body pose of a target person. However, in these pHRI scenarios, the robot cannot fully observe the target person's body with equipped cameras because the…
The interaction of humans and robots in less constrained environments gains a lot of attention lately and the safety of such interaction is of utmost importance. Two ways of risk assessment are prescribed by recent safety standards: (i)…
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…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
In this paper, an analysis of the sensing volume coverage of robot workspace as well as the shared human-robot collaborative workspace for various configurations of on-robot Time-of-Flight (ToF) sensor array rings is presented. A…