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Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
This paper describes the design and the realization of a prototype of the novel guide robot BUDD-e for visually impaired users. The robot has been tested in a real scenario with the help of visually disabled volunteers at ASST Grande…
Accessible pedestrian signal (APS) was proposed as a mean to achieve the same level of service that is set forth by the American with Disability Act (ADA) for the visually impaired. One of the major issues of existing APSs is the failure to…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
The remote human operator's user interface (UI) is an important link to make the robot an efficient extension of the operator's perception and action. In rescue applications, several studies have investigated the design of operator…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
This paper introduces CognitiveDog, a pioneering development of quadruped robot with Large Multi-modal Model (LMM) that is capable of not only communicating with humans verbally but also physically interacting with the environment through…
Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
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…