Related papers: Somatic Safety: An Embodied Approach Towards Safe …
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Affective interaction is not merely about recognizing emotions; it is an embodied, situated process shaped by context and co-created through interaction. In affective computing, the role of haptic feedback within dynamic emotional exchanges…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
Soft robotics has emerged as a versatile field with applications across various domains, from healthcare to industrial automation, and more recently, art and interactive installations. The inherent flexibility, adaptability, and safety of…
With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…
Skilled motor behavior is critical in many human daily life activities and professions. The design of robots that can effectively teach motor skills is an important challenge in the robotics field. In particular, it is important to…
The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm…
Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work.…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…
In planning for future human space exploration, it is important to consider how to design for uplifting interpersonal communications and social dynamics among crew members. What if embodied social robots could help to improve the overall…
Despite the rise of mobile robot deployments in home and work settings, perceived safety of users and bystanders is understudied in the human-robot interaction (HRI) literature. To address this, we present a study designed to identify…
Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…
The rapid advancement of robotics, spanning expanded capabilities, more intuitive interaction, and more integration into real-world workflows, is reshaping what it means for humans and robots to coexist. Beyond sharing physical space, this…
Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…
In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…
Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…
The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of balance. When instability does occur, prior work addresses…