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Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute…
The breakthrough in AI and Machine Learning has brought a new revolution in robotics, resulting in the construction of more sophisticated robotic systems. Not only can these robotic systems benefit all domains, but also can accomplish tasks…
An intelligent robot can be used for applications where a human is at significant risk (like nuclear, space, military), the economics or menial nature of the application result in inefficient use of human workers (service industry,…
Can your humanoid walk up and hand you a full cup of beer, without spilling a drop? While humanoids are increasingly featured in flashy demos like dancing, delivering packages, traversing rough terrain, fine-grained control during…
Training and preparing first responders and humanitarian robots for Mass Casualty Incidents (MCIs) often poses a challenge owing to the lack of realistic and easily accessible test facilities. While such facilities can offer realistic…
We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…
We outline our work on evaluating robots that assist older adults by engaging with them through multiple modalities that include physical interaction. Our thesis is that to increase the effectiveness of assistive robots: 1) robots need to…
Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…
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…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
One of the key issues in human-robot collaboration is the development of computational models that allow robots to predict and adapt to human behavior. Much progress has been achieved in developing such models, as well as control techniques…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
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…
Human-robot interaction (HRI) is essential to the widespread use of robots in daily life. Robots will eventually be able to carry out a variety of duties in human civilization through effective social interaction. Creating straightforward…
Real-time whole-body teleoperation is a critical method for humanoid robots to perform complex tasks in unstructured environments. However, developing a unified controller that robustly supports diverse human motions remains a significant…
This paper presents an Expert-guided Mixed-Initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy during task execution initiated by either the human…
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high…