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Interpreting human intent accurately is a central challenge in human-robot interaction (HRI) and a key requirement for achieving more natural and intuitive collaboration between humans and machines. This work presents a novel multimodal HRI…
In recent years, the demand for social robots has grown, requiring them to adapt their behaviors based on users' states. Accurately assessing user experience (UX) in human-robot interaction (HRI) is crucial for achieving this adaptability.…
Recent progress in AI and Reinforcement learning has shown great success in solving complex problems with high dimensional state spaces. However, most of these successes have been primarily in simulated environments where failure is of…
The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
As a window for urban sensing, human mobility contains rich spatiotemporal information that reflects both residents' behavior preferences and the functions of urban areas. The analysis of human mobility has attracted the attention of many…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
In the field of Human-Robot Interaction (HRI), a fundamental challenge is to facilitate human understanding of robots. The emerging domain of eXplainable HRI (XHRI) investigates methods to generate explanations and evaluate their impact on…
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…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
The use of pointed or edged tools or objects is one of the most challenging aspects of today's application of physical human-robot interaction (pHRI). One reason for this is that the severity of harm caused by such edged or pointed…
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…
Human autonomy and sense of agency are increasingly recognised as critical for user well-being, motivation, and the ethical deployment of robots in human-robot interaction (HRI). Given the rapid development of artificial intelligence, robot…
This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…
This paper discuss the integration of risk into a robot control framework for decommissioning applications in the nuclear industry. Our overall objective is to allow the robot to evaluate a risk associated with several methods of completing…
Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…
For physical human-robot interactions (pHRI), a robot needs to estimate the accurate body pose of a target person. However, in these pHRI scenarios, the robot cannot fully observe the target person's body with equipped cameras because the…
In this paper, we propose and validate a Joint-Initiative Supervised Autonomy (JISA) framework for Human-Robot Interaction (HRI), in which a robot maintains a measure of its self-confidence (SC) while performing a task, and only prompts the…
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…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…