Related papers: Adaptive Motion Planning via Contact-Based Intent …
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,…
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
In Human-Robot Collaboration (HRC), which encompasses physical interaction and remote cooperation, accurate estimation of human intentions and seamless switching of collaboration modes to adjust robot behavior remain paramount challenges.…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…
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…
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…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
In physical Human-Robot Collaboration (pHRC), accurate human intent estimation and rational human-robot role allocation are crucial for safe and efficient assistance. Existing methods that rely on short-term motion data for intention…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
Human safety is the most important demand for human robot interaction and collaboration (HRIC), which not only refers to physical safety, but also includes psychological safety. Although many robots with different configurations have…
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…
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,…