Related papers: A General Safety Framework for Autonomous Manipula…
Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…
In collaborative human-robot tasks, safety requires not only avoiding collisions but also ensuring safe, intentional physical contact. We present ContactRL, a reinforcement learning (RL) based framework that directly incorporates contact…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Building trust between humans and robots has long interested the robotics community. Various studies have aimed to clarify the factors that influence the development of user trust. In Human-Robot Interaction (HRI) environments, a critical…
Soft robot manipulators have the potential for deployment in delicate environments to perform complex manipulation tasks. However, existing obstacle detection and avoidance methods do not consider limits on the forces that manipulators may…
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…
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…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Soft robotics has emerged as a transformative technology in Search and Rescue (SAR) operations, addressing challenges in navigating complex, hazardous environments that often limit traditional rigid robots. This paper critically examines…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
Search-and-rescue (SaR) in unknown environments requires precise, optimal, and fast decisions. Robots are promising candidates for autonomously performing SaR tasks in unknown environments. While humans use their heuristics to effectively…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
There is a close connection between health and the quality of one's social life. Strong social bonds are essential for health and wellbeing, but often health conditions can detrimentally affect a person's ability to interact with others.…
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…