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Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…

Understanding uncertainty plays a critical role in achieving common ground (Clark et al.,1983). This is especially important for multimodal AI systems that collaborate with users to solve a problem or guide the user through a challenging…

Strategies are necessary to mitigate the impact of unexpected behavior in collaborative robotics, and research to develop solutions is lacking. Our aim here was to explore the benefits of an affective interaction, as opposed to a more…

An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow…

A method for cross-modality embedding of force profile and words is presented for synergistic coordination of verbal and haptic communication. When two people carry a large, heavy object together, they coordinate through verbal…

Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…

Human--robot interaction requires robots whose actions are legible, allowing humans to interpret, predict, and feel safe around them. This study investigates the legibility of humanoid robot arm movements in a pointing task, aiming to…

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…

In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…

We propose augmenting the empathetic capacities of social robots by integrating non-verbal cues. Our primary contribution is the design and labeling of four types of empathetic non-verbal cues, abbreviated as SAFE: Speech, Action (gesture),…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Recognition of intentions is a subconscious cognitive process vital to human communication. This skill enables anticipation and increases the quality of interactions between humans. Within the context of engagement, non-verbal signals are…

In this paper, we explore the use of motion for robot-to-human communication on three robotic platforms: the 5 degrees-of-freedom (DOF) Aqua autonomous underwater vehicle (AUV), a 3-DOF camera gimbal mounted on a Matrice 100 drone, and a…

Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…

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 social robotics, robots needs to be able to be understood by humans. Especially in collaborative tasks where they have to share mutual knowledge. For instance, in an educative scenario, learners share their knowledge and they must adapt…

Affective interaction is not merely about recognizing emotions; it is an embodied, situated process shaped by context and co-created through interaction. In affective computing, the role of haptic feedback within dynamic emotional exchanges…

This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…

A remote robot operator's affective state can significantly impact the resulting robot's motions leading to unexpected consequences, even when the user follows protocol and performs permitted tasks. The recognition of a user operator's…

Robot facial expressions and gaze are important factors for enhancing human-robot interaction (HRI), but their effects on human collaboration and perception are not well understood, for instance, in collaborative game scenarios. In this…