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This paper explores the integration of visual communication and musical interaction by implementing a robotic camera within a "Guided Harmony" musical game. We aim to examine co-creative behaviors between human musicians and robotic…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
The end-user programming of social robot behavior is usually limited by a predefined set of movements. We are proposing a puppeteering robotic interface that provides a more intuitive method of programming robot expressive movements. As the…
Service robots for the domestic environment are intended to autonomously provide support for their users. However, state-of-the-art robots still often get stuck in failure situations leading to breakdowns in the interaction flow from which…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
In order to collaborate and co-create with humans, an AI system must be capable of both reactive and anticipatory behavior. We present a case study of such a system in the domain of musical improvisation. We consider a duo consisting of a…
Communication between humans and artificial agents is essential for their interaction. This is often inspired by human communication, which uses gestures, facial expressions, gaze direction, and other explicit and implicit means. This work…
Robots extend beyond the tools of productivity; they also contribute to creativity. While typically defined as utility-driven technologies designed for productive or social settings, the role of robots in creative settings remains…
How do people use their faces and bodies to test the interactive abilities of a robot? Making lively, believable agents is often seen as a goal for robots and virtual agents but believability can easily break down. In this Wizard-of-Oz…
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…
The intuitive collaboration of humans and intelligent robots (embodied AI) in the real-world is an essential objective for many desirable applications of robotics. Whilst there is much research regarding explicit communication, we focus on…
We explore natural user interactions using a virtual reality simulation of a robot arm for assembly tasks. Using a Wizard-of-Oz study, participants completed collaborative LEGO and instructive PCB assembly tasks, with the robot responding…
How can interactions with A.I. systems be designed? This paper explores the design space for A.I. interaction to develop tools for designers to think about tangible and physical A.I. interactions. Our proposed framework consists of two…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…
Expressivity--the use of multiple modalities to convey internal state and intent of a robot--is critical for interaction. Yet, due to cost, safety, and other constraints, many robots lack high degrees of physical expressivity. This paper…
Implicit communication is crucial in human-robot collaboration (HRC), where contextual information, such as intentions, is conveyed as implicatures, forming a natural part of human interaction. However, enabling robots to appropriately use…