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Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
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…
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…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
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…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Safety concerns have risen as robots become more integrated into our daily lives and continue to interact closely with humans. One of the most crucial safety priorities is preventing collisions between robots and people walking nearby.…
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…
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…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
This paper introduces HARMONIC, a cognitive-robotic architecture designed for robots in human-robotic teams. HARMONIC supports semantic perception interpretation, human-like decision-making, and intentional language communication. It…
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…