Related papers: Robots Taking Initiative in Collaborative Object M…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
Human emotions are expressed through multiple modalities, including verbal and non-verbal information. Moreover, the affective states of human users can be the indicator for the level of engagement and successful interaction, suitable for…
Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human-robot contact. We introduce CoRI, a pipeline that…
During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…
Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carrying large and heavy furniture together. Given the scarcity of…
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.…
With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
Autonomous robots must communicate about their decisions to gain trust and acceptance. When doing so, robots must determine which actions are causal, i.e., which directly give rise to the desired outcome, so that these actions can be…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…