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Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…

In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…

A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…

When autonomous agents interact in the same environment, they must often cooperate to achieve their goals. One way for agents to cooperate effectively is to form a team, make a binding agreement on a joint plan, and execute it. However,…

Conversational AI agents are commonly applied within single-user, turn-taking scenarios. The interaction mechanics of these scenarios are trivial: when the user enters a message, the AI agent produces a response. However, the interaction…

Manipulation is a common concern in many domains, such as social media, advertising, and chatbots. As AI systems mediate more of our interactions with the world, it is important to understand the degree to which AI systems might manipulate…

In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…

Communication is essential for successful interaction. In human-robot interaction, implicit communication holds the potential to enhance robots' understanding of human needs, emotions, and intentions. This paper introduces a method to…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…

When encountering novel objects, humans are able to infer a wide range of physical properties such as mass, friction and deformability by interacting with them in a goal driven way. This process of active interaction is in the same spirit…

Cooperative grasping and transportation require effective coordination to complete the task. This study focuses on the approach leveraging force-sensing feedback, where robots use sensors to detect forces applied by others on an object to…

Many tasks in AI require the collaboration of multiple agents. Typically, the communication protocol between agents is manually specified and not altered during training. In this paper we explore a simple neural model, called CommNet, that…

Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…

Human-Robot Social Interaction became one of active research fields in which researchers from different areas propose solutions and directives leading robots to improve their interactions with humans. In this paper we propose to introduce…

When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…

Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…

Human interaction experience plays a crucial role in the effectiveness of human-machine collaboration, especially as interactions in future systems progress towards tighter physical and functional integration. While automation design has…

A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…

We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…

An integral part of seamless human-human communication is engagement, the process by which two or more participants establish, maintain, and end their perceived connection. Therefore, to develop successful human-centered human-machine…