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Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Robotics landscape is experiencing big changes. Robots are spreading and will soon be everywhere. Systems traditionally employed in industry are being replaced by collaborative robots, while more and more professional and consumer robots…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…
Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple…
Designing robots to support high-stakes teamwork in emergency settings presents unique challenges, including seamless integration into fast-paced environments, facilitating effective communication among team members, and adapting to rapidly…
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires…
Current invasive assistive technologies are designed to infer high-dimensional motor control signals from severely paralyzed patients. However, they face significant challenges, including public acceptance, limited longevity, and barriers…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
Embodied AI systems, comprising AI models and physical plants, are increasingly prevalent across various applications. Due to the rarity of system failures, ensuring their safety in complex operating environments remains a major challenge,…
AI-controlled robotic systems pose a risk to human workers and the environment. Classical risk assessment methods cannot adequately describe such black box systems. Therefore, new methods for a dynamic risk assessment of such AI-controlled…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Robot-Assisted Therapy (RAT) has successfully been used in Human Robot Interaction (HRI) research by including social robots in health-care interventions by virtue of their ability to engage human users in both social and emotional…
Robotics and Artificial Intelligence (AI) have been inextricably intertwined since their inception. Today, AI-Robotics systems have become an integral part of our daily lives, from robotic vacuum cleaners to semi-autonomous cars. These…
In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…
As Artificial Intelligence (AI) becomes increasingly integrated into high-stakes domains like healthcare, effective collaboration between healthcare experts and AI systems is critical. Data-centric steering, which involves fine-tuning…
Risk assessment of a robot in controlled environments, such as laboratories and proving grounds, is a common means to assess, certify, validate, verify, and characterize the robots' safety performance before, during, and even after their…