Related papers: Dynamic Hand Gesture-Featured Human Motor Adaptati…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
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…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent…
We study real-time collaborative robot (cobot) handling, where the cobot maneuvers a workpiece under human commands. This is useful when it is risky for humans to directly handle the workpiece. However, it is hard to make the cobot both…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Human operators are still frequently exposed to hazardous environments such as disaster zones and industrial facilities, where intuitive and reliable teleoperation of mobile robots and Unmanned Aerial Vehicles (UAVs) is essential. In this…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
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…
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.…
In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…