相关论文: A Hierarchical Architecture for Human-Robot Cooper…

This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…

Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…

Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during…

In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task…

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 robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…

A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…

Fluent human--robot collaboration requires robots to continuously estimate human behaviour and anticipate future intentions. This entails reasoning jointly about \emph{continuous movements} and \emph{discrete actions}, which are still…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…

We argue that hierarchical methods can become the key for modular robots achieving reconfigurability. We present a hierarchical approach for modular robots that allows a robot to simultaneously learn multiple tasks. Our evaluation results…

For robots to assist users with household tasks, they must first learn about the tasks from the users. Further, performing the same task every day, in the same way, can become boring for the robot's user(s), therefore, assistive robots must…

Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…

This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition,…

A new approach to the human-robot shared control of the Extra Robotic Legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the entirety of its backpack payload, as well as some of the…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…

Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…

Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…