Related papers: Dynamic Risk Assessment for Human-Robot Collaborat…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and…
While much research explores improving robot capabilities, there is a deficit in researching how robots are expected to perform tasks safely, especially in high-risk problem domains. Robots must earn the trust of human operators in order to…
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…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our framework combines aleatoric uncertainty estimation with OOD…
Recently, human-robot interaction (HRI) is an extensive research topic and theme which gained importance and significance. HRI aims at the complementary combination between the robot capabilities and human skills. The robots assist humans…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…
Due to agile developments in the field of robotics and human-robot interaction, prospective robotic agents are intended to play the role of teammates and partner with humans to perform operations, rather than tools that are replacing humans…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning. Leveraging the sample-efficiency of the Soft Actor-Critic algorithm, we have implemented a robotic platform able to…
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Order Control Barrier Functions (HOCBFs) constructed for safe…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…
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…
The interaction of humans and robots in less constrained environments gains a lot of attention lately and the safety of such interaction is of utmost importance. Two ways of risk assessment are prescribed by recent safety standards: (i)…
We present LiHRA, a novel dataset designed to facilitate the development of automated, learning-based, or classical risk monitoring (RM) methods for Human-Robot Interaction (HRI) scenarios. The growing prevalence of collaborative robots in…