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Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues.…
In this work we argue that in Human-Robot Collaboration (HRC) tasks, the Perception-Action cycle in HRC tasks can not fully explain the collaborative behaviour of the human and robot and it has to be extended to Perception-Intention-Action…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
Human-robot collaboration (HRC) in the construction industry depends on precise and prompt recognition of human motion intentions and actions by robots to maximize safety and workflow efficiency. There is a research gap in comparing data…
Human-multi-robot shared control leverages human decision-making and robotic autonomy to enhance human-robot collaboration. While widely studied, existing systems often adopt a leader-follower model, limiting robot autonomy to some extent.…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Human-robot collaborative manufacturing, a core aspect of Industry 5.0, emphasizes ergonomics to enhance worker well-being. This paper addresses the dynamic human-robot task planning and allocation (HRTPA) problem, which involves…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
Human-Robot Collaboration (HRC) is vital in Industry 4.0, using sensors, digital twins, collaborative robots (cobots), and intention-recognition models to have efficient manufacturing processes. However, Concept Drift is a significant…
As robots get more integrated into human environments, fostering trustworthiness in embodied robotic agents becomes paramount for an effective and safe human-robot interaction (HRI). To achieve that, HRI applications must promote human…
This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…