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The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
Intentional or unintentional contacts are bound to occur increasingly more often due to the deployment of autonomous systems in human environments. In this paper, we devise methods to computationally predict imminent collisions between…
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…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…
Robot apps are becoming more automated, complex and diverse. An app usually consists of many functions, interacting with each other and the environment. This allows robots to conduct various tasks. However, it also opens a new door for…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
Mobile robots joining public spaces like sidewalks must care for pedestrian comfort. Many studies consider pedestrians' objective safety, for example, by developing collision avoidance algorithms, but not enough studies take the…
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…
Robots, as AI with physical instantiation, inhabit our social and physical world, where their actions have both social and physical consequences, posing challenges for researchers when designing social robots. This study starts with a…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Interacting with humans is one of the main challenges for mobile robots in a human inhabited environment. To enable adaptive behavior, a robot needs to recognize touch gestures and/or the proximity to interacting individuals. Moreover, a…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Technological advances in holography, robotics, and 3D printing are starting to realize the vision of a holodeck. These immersive 3D displays must address user safety from the start to be viable. A holodeck's safety challenges are novel…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…