Related papers: Control Without Control: Defining Implicit Interac…
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…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
Implicit communication is crucial in human-robot collaboration (HRC), where contextual information, such as intentions, is conveyed as implicatures, forming a natural part of human interaction. However, enabling robots to appropriately use…
As the advent of artificial general intelligence (AGI) progresses at a breathtaking pace, the application of large language models (LLMs) as AI Agents in robotics remains in its nascent stage. A significant concern that hampers the seamless…
As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
Explicit communication is often valued for its directness in presenting information but requires attention during exchange, resulting in cognitive interruptions. On the other hand, implicit communication contributes to tacit and smooth…
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…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…
Robots are moving beyond industrial settings into creative, educational, and public environments where interaction is open-ended and improvisational. Yet much of human-AI-robot interaction remains framed around performance and efficiency,…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
This paper investigates manipulability of interactive Lagrangian systems with parametric uncertainty and communication/sensing constraints. Two standard examples are teleoperation with a master-slave system and teaching operation of robots.…
Roboticists often design with the assumption that assistive robots should be fully autonomous. However, it remains unclear whether users prefer highly autonomous robots, as prior work in assistive robotics suggests otherwise. High robot…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
Trust has been shown to be a key factor in effective human-robot collaboration. In the context of assistive robotics, the effect of trust factors on human experience is further pronounced. Personalization of assistive robots is an…
As social robots become increasingly prevalent in day-to-day environments, they will participate in conversations and appropriately manage the information shared with them. However, little is known about how robots might appropriately…