Related papers: Interactive Motion Planning for Human-Robot Collab…
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…
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…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
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…
High-dimensional manipulator operation in unstructured environments requires a differentiable, scene-agnostic distance query mechanism to guide safe motion generation. Existing geometric collision checkers are typically non-differentiable,…
Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…
Motion planning is a computationally intensive and well-studied problem in autonomous robots. However, motion planning hardware accelerators (MPA) must be soft-error resilient for deployment in safety-critical applications, and blanket…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
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…
When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…
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…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…
Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based methods typically rely on the gradients of signed distance fields (SDFs) to impose collision-avoidance constraints. However, these…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
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…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…