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Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Artificial Intelligence (AI) has significantly advanced in recent years, driving innovation across various fields, especially in robotics. Even though robots can perform complex tasks with increasing autonomy, challenges remain in ensuring…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an operator to directly control each robot.…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
Safe and trustworthy Human Robot Interaction (HRI) requires robots not only to complete tasks but also to regulate impedance and speed according to scene context and human proximity. We present SafeHumanoid, an egocentric vision pipeline…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from…
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…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
To maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…