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Effective communication is essential for safety and efficiency in human-robot collaboration, particularly in shared workspaces. This paper investigates the impact of nonverbal communication on human-robot interaction (HRI) by integrating…
The integration of large language models (LLMs) into conversational robots has made human-robot conversations more dynamic. Yet, LLM-powered conversational robots remain prone to errors, e.g., misunderstanding user intent, prematurely…
Human-Robot Interaction (HRI) is an emerging subfield of service robotics. While most existing approaches rely on explicit signals (i.e. voice, gesture) to engage, current literature is lacking solutions to address implicit user needs. In…
This article presents a survey of literature in the area of Human-Robot Interaction (HRI), specifically on systems containing more than two agents (i.e., having multiple humans and/or multiple robots). We identify three core aspects of…
Within the human-robot interaction (HRI) community, many researchers have focused on the careful design of human-subjects studies. However, other parts of the community, e.g., the technical advances community, also need to do human-subjects…
Uncertainty, vagueness, and ambiguity are closely related and often confused concepts in human-robot interaction (HRI). In earlier studies, these concepts have been defined in contradictory ways and described using inconsistent terminology.…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…
We propose a low cost and effective way to combine a free simulation software and free CAD models for modeling human-object interaction in order to improve human & object segmentation. It is intended for research scenarios related to safe…
We propose to combine recent Convolutional Neural Networks (CNN) models with depth imaging to obtain a reliable and fast multi-person pose estimation algorithm applicable to Human Robot Interaction (HRI) scenarios. Our hypothesis is that…
Mobile service robots are proving to be increasingly effective in a range of applications, such as healthcare, monitoring Activities of Daily Living (ADL), and facilitating Ambient Assisted Living (AAL). These robots heavily rely on Human…
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
Human safety is critical in applications involving close human-robot interactions (HRI) and is a key aspect of physical compatibility between humans and robots. While measures of human safety in HRI exist, these mainly target industrial…
A challenge in using robots in human-inhabited environments is to design behavior that is engaging, yet robust to the perturbations induced by human interaction. Our idea is to imbue the robot with intrinsic motivation (IM) so that it can…
Modeling interaction dynamics to generate robot trajectories that enable a robot to adapt and react to a human's actions and intentions is critical for efficient and effective collaborative Human-Robot Interactions (HRI). Learning from…
Human demonstrations as prompts are a powerful way to program robots to do long-horizon manipulation tasks. However, translating these demonstrations into robot-executable actions presents significant challenges due to execution mismatches…
Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…
Despite the increasing interest in trust in human-robot interaction (HRI), there is still relatively little exploration of trust as a social construct in HRI. We propose that integration of useful models of human-human trust from…
Natural Human-Robot Interaction (N-HRI) requires robots to recognize human actions at varying distances and states, regardless of whether the robot itself is in motion or stationary. This setup is more flexible and practical than…