Related papers: HARMONIC: A Content-Centric Cognitive Robotic Arch…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
In human-robot collaboration (HRC), robots must adapt online to dynamic task constraints and evolving human intent. While physical corrections provide a natural, low-latency channel for operators to convey motion-level adjustments,…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…
A long-standing goal of the Human-Robot Collaboration (HRC) in manufacturing systems is to increase the collaborative working efficiency. In line with the trend of Industry 4.0 to build up the smart manufacturing system, the Co-robot in the…
The foundation of successful human collaboration is deeply rooted in the principles of fairness. As robots are increasingly prevalent in various parts of society where they are working alongside groups and teams of humans, their ability to…
This paper presents a system called Robo-CSK-Organizer that infuses commonsense knowledge from a classical knowledge based to enhance the context recognition capabilities of robots so as to facilitate the organization of detected objects by…
We present MOSAIC, a modular architecture for coordinating multiple robots to (a) interact with users using natural language and (b) manipulate an open vocabulary of everyday objects. MOSAIC employs modularity at several levels: it…
The topic of joint actions has been deeply studied in the context of Human-Human interaction in order to understand how humans cooperate. Creating autonomous robots that collaborate with humans is a complex problem, where it is relevant to…
When cooperating with a human, a robot should not only care about its environment and task but also develop an understanding of the partner's reasoning. To support its human partner in complex tasks, the robot can share information that it…
Recent advances in sensing, communication, interfaces, control, and robotics are expanding Human-Building Interaction (HBI) beyond adaptive building services and facades toward the physical actuation of architectural space. In parallel,…
Traditional Artificial Cognitive Systems (for example, intelligent robots) share a number of limitations. First, they are usually made up only of machine components; humans are only playing the role of user or supervisor. And yet, there are…
This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…
Harmonic potentials provide globally convergent potential fields that are provably free of local minima. Due to its analytical format, it is particularly suitable for generating safe and reliable robot navigation policies. However, for…
Symbolic anchoring is a crucial problem in the field of robotics, as it enables robots to obtain symbolic knowledge from the perceptual information acquired through their sensors. In cognitive-based robots, this process of processing…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…
Ensuring safe interactions in human-centric environments requires robots to understand and adhere to constraints recognized by humans as "common sense" (e.g., "moving a cup of water above a laptop is unsafe as the water may spill" or…
This study addresses the challenge of integrating social norms into robot navigation, which is essential for ensuring that robots operate safely and efficiently in human-centric environments. Social norms, often unspoken and implicitly…
While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…