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Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational…
Human-robot collaboration (HRC) in the construction industry depends on precise and prompt recognition of human motion intentions and actions by robots to maximize safety and workflow efficiency. There is a research gap in comparing data…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
In Human-Robot Collaboration (HRC), which encompasses physical interaction and remote cooperation, accurate estimation of human intentions and seamless switching of collaboration modes to adjust robot behavior remain paramount challenges.…
During collaborative tasks, human behavior is guided by multiple levels of intentions that evolve over time, such as task sequence preferences and interaction strategies. To adapt to these changing preferences and promptly correct any…
Automated requirements assessment traditionally relies on universal patterns as proxies for defectiveness, implemented through rule-based heuristics or machine learning classifiers trained on large annotated datasets. However, what…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
Human-robot collaboration (HRC) in structured assembly requires reliable state estimation and adaptive task planning under noisy perception and human interventions. To address these challenges, we introduce a design-grounded human-aware…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
This work aims to tackle the intent recognition problem in Human-Robot Collaborative assembly scenarios. Precisely, we consider an interactive assembly of a wooden stool where the robot fetches the pieces in the correct order and the human…
In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…
Human brain possesses the ability to effectively focus on important environmental components, which enhances perception, learning, reasoning, and decision-making. Inspired by this cognitive mechanism, we introduced a novel concept termed…
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and…
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,…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…
Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accurate human-robot interaction intent detection that fuses…
Predicting human intent is challenging yet essential to achieving seamless Human-Robot Collaboration (HRC). Many existing approaches fail to fully exploit the inherent relationships between objects, tasks, and the human model. Current…
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…
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…