Related papers: Adaptive Motion Planning via Contact-Based Intent …
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the…
Tasks where robots must anticipate human intent, such as navigating around a cluttered home or sorting everyday items, are challenging because they exhibit a wide range of valid actions that lead to similar outcomes. Moreover, zero-shot…
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
The human-robot interaction (HRI) field has recognized the importance of enabling robots to interact with teams. Human teams rely on effective communication for successful collaboration in time-sensitive environments. Robots can play a role…
Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guided robot motion planning typically assume fully specified…
Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
To engender safe and efficient human-robot collaboration, it is critical to generate high-fidelity predictions of human behavior. The challenges in making accurate predictions lie in the stochasticity and heterogeneity in human behaviors.…
In human-robot collaboration (HRC), it is crucial for robot agents to consider humans' knowledge of their surroundings. In reality, humans possess a narrow field of view (FOV), limiting their perception. However, research on HRC often…
Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…