Related papers: Neuroadaptation in Physical Human-Robot Collaborat…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
This work aims to interpret human behavior to anticipate potential user confusion when a robot provides explanations for failure, allowing the robot to adapt its explanations for more natural and efficient collaboration. Using a dataset…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
An important current challenge in Human-Robot Interaction (HRI) is to enable robots to learn on-the-fly from human feedback. However, humans show a great variability in the way they reward robots. We propose to address this issue by…
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform forceful manipulation tasks such as moving objects, wiping,…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the safety of robots. Due to the uncertainty of the working…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
Neural networks modularity is a major challenge for the development of control circuits of neural activity. Under physiological limitations, the accessible regions for external stimulation are possibly different from the functionally…
In human-robot collaboration (HRC), it is crucial for robot agents to consider humans' knowledge of their surroundings. In reality, humans possess a narrow field of view (FOV), limiting their perception. However, research on HRC often…
This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…