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Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
Effectively recognising and applying emotions to interactions is a highly desirable trait for social robots. Implicitly understanding how subjects experience different kinds of actions and objects in the world is crucial for natural HRI…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…
The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Human-robot collaboration, in which the robot intelligently assists the human with the upcoming task, is an appealing objective. To achieve this goal, the agent needs to be equipped with a fundamental collaborative navigation ability, where…
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…
Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high…
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…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…
We introduce the conceptual formulation, design, fabrication, control and commercial translation with IoT connection of a hybrid-face social robot and validation of human emotional response to its affective interactions. The hybrid-face…
We present Neural Signal Operated Intelligent Robots (NOIR), a general-purpose, intelligent brain-robot interface system that enables humans to command robots to perform everyday activities through brain signals. Through this interface,…
We present HARMONIC, a framework for implementing cognitive robots that transforms general-purpose robots into trusted teammates capable of complex decision-making, natural communication and human-level explanation. The framework supports…
Human-humanoid collaboration shows significant promise for applications in healthcare, domestic assistance, and manufacturing. While compliant robot-human collaboration has been extensively developed for robotic arms, enabling compliant…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…