Related papers: Bidirectional Human-Robot Communication for Physic…

In the construction industry, where work environments are complex, unstructured and often dangerous, the implementation of Human-Robot Collaboration (HRC) is emerging as a promising advancement. This underlines the critical need for…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…

Today, as seen in smart speakers, spoken dialogue technology is rapidly advancing to enable human-like interaction. However, current dialogue systems cannot pay attention not only to the content of speech, but also to the way of speaking…

In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…

Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…

Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different interaction modalities. We present an…

Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…

Robots can learn preferences from human demonstrations, but their success depends on how informative these demonstrations are. Being informative is unfortunately very challenging, because during teaching, people typically get no…

In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…

Effective human-robot collaboration requires robot to adopt their roles and levels of support based on human needs, task requirements, and complexity. Traditional human-robot teaming often relies on a pre-determined robot communication…

Developing general-purpose robots capable of autonomously operating in human living environments requires the ability to adapt to continuously evolving task conditions. However, adapting high-dimensional coordinated bimanual skills to novel…

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…

The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…