Related papers: SM2ITH: Safe Mobile Manipulation with Interactive …
Modeling interaction dynamics to generate robot trajectories that enable a robot to adapt and react to a human's actions and intentions is critical for efficient and effective collaborative Human-Robot Interactions (HRI). Learning from…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
The global push for sustainability and energy efficiency is driving significant advancements across various industries, including the development of electrified solutions for heavy-duty mobile manipulators (HDMMs). Electromechanical linear…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
We propose a probabilistic shared-control solution for navigation, called Robot Trajectron V2 (RT-V2), that enables accurate intent prediction and safe, effective assistance in human-robot interaction. RT-V2 jointly models a user's…
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for…
As mobile robots increasingly operate alongside humans in shared workspaces, ensuring safe, efficient, and interpretable Human-Robot Interaction (HRI) has become a pressing challenge. While substantial progress has been devoted to human…
The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…
Predicting future motion trajectories is a critical capability across domains such as robotics, autonomous systems, and human activity forecasting, enabling safer and more intelligent decision-making. This paper proposes a novel, efficient,…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
We present a method to simulate movement in interaction with computers, using Model Predictive Control (MPC). The method starts from understanding interaction from an Optimal Feedback Control (OFC) perspective. We assume that users aim to…
We address the problem of coordinating a team of robots to cover an unknown environment while ensuring safe operation and avoiding collisions with non-cooperative agents. Traditional coverage strategies often rely on simplified assumptions,…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
Effective human-human and human-autonomy teamwork is critical but often challenging to perfect. The challenge is particularly relevant in time-critical domains, such as healthcare and disaster response, where the time pressures can make…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
Hand kinematics can be measured in Human-Computer Interaction (HCI) with the intention to predict the user's intention in a reach-to-grasp action. Using multiple hand sensors, multivariate time series data are being captured. Given a number…