Related papers: Human-Aware Robot Behaviour in Self-Driving Labs
To achieve natural and intuitive interaction with people, HRI frameworks combine a wide array of methods for human perception, intention communication, human-aware navigation and collaborative action. In practice, when encountering…
Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including…
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…
The emergence of Self-Driving Laboratories (SDLs) transforms scientific discovery methodology by integrating AI with robotic automation to create closed-loop experimental systems capable of autonomous hypothesis generation, experimentation,…
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…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
Chemistry, a long-standing discipline, has historically relied on manual and often time-consuming processes. While some automation exists, the field is now on the cusp of a significant evolution driven by the integration of robotics and…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
The development of autonomous robotic systems offers significant potential for performing complex tasks with precision and consistency. Recent advances in Artificial Intelligence (AI) have enabled more capable intelligent automation…
Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then…
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…
Purposeful behavior in robotic assistants requires the integration of multiple components and technological advances. Often, the problem is reduced to recognizing explicit prompts, which limits autonomy, or is oversimplified through…
Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…
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.…
TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…