Related papers: Integrating Uncertainty-Aware Human Motion Predict…
To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic…
By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline…
Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…
Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
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…
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…
As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…
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…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…