Related papers: Adaptive Trajectory Optimization for Task-Specific…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
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…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
To engender safe and efficient human-robot collaboration, it is critical to generate high-fidelity predictions of human behavior. The challenges in making accurate predictions lie in the stochasticity and heterogeneity in human behaviors.…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
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…
In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. To this end, motion flow similarity measure which considers both…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…