相关论文: Physical Human-Robot Interaction with a Tethered A…

Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage…

Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…

This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…

ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture- only or language-only commands, making interaction…

The use of social, anthropomorphic robots to support humans in various industries has been on the rise. During Human-Robot Interaction (HRI), physically interactive non-verbal behaviour is key for more natural interactions. Handshaking is…

Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…

This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…

Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enhancing accessibility of these technologies. The design and…

Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…

Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…

Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…

In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated…

Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

The study of human-robot interaction (HRI) has received increasing research attention for robot navigation in pedestrian crowds. In this paper, we present empirical study of pedestrian-robot interaction in an uni-directional exit corridor.…