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In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users and robots. With the existing HRI pipelines, users can teach…
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
Incorporating empathetic behavior into robots can improve their social effectiveness and interaction quality. In this paper, we present whEE (when and how to express empathy), a framework that enables social robots to detect when empathy is…
The rapid development of artificial intelligence and robotics has had a significant impact on our lives, with intelligent systems increasingly performing tasks traditionally performed by humans. Efficient knowledge transfer requires…
Integrating robotics into everyday scenarios like tutoring or physical training requires robots capable of adaptive, socially engaging, and goal-oriented interactions. While Large Language Models show promise in human-like communication,…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Emotional concepts play a huge role in our daily life since they take part into many cognitive processes: from the perception of the environment around us to different learning processes and natural communication. Social robots need to…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
Trust has been identified as a central factor for effective human-robot teaming. Existing literature on trust modeling predominantly focuses on dyadic human-autonomy teams where one human agent interacts with one robot. There is little, if…
Autonomous agents (robots) face tremendous challenges while interacting with heterogeneous human agents in close proximity. One of these challenges is that the autonomous agent does not have an accurate model tailored to the specific human…
Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Meeting eye contact is the essential prerequisite skill of a human to initiate any conversation with others. However, it is not an easy task for a robot to meet eye contact with a human if they are not facing each other initially or the…
Engagement is a fuzzy concept. In the present work we operationalize engagement mechanistically by linking it directly to human behaviour and show that the construct of engagement can be used for shaping and interpreting data-driven…
In Social Robot Navigation (SRN), the availability of meaningful metrics is crucial for evaluating trajectories from human-robot interactions. In the SRN context, such interactions often relate to resolving conflicts between two or more…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…