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Over the past decade, a multitude of service robots have been developed to fulfill a wide range of practical purposes. Notably, roles such as reception and robotic guidance have garnered extensive popularity. In these positions, robots are…

Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…

Visual navigation is a fundamental capability of mobile service robots, yet the onboard cameras required for such navigation can capture privacy-sensitive information and raise user privacy concerns. Existing approaches to…

Mobile manipulators are increasingly deployed in human-centered environments to perform tasks. While completing such tasks, they should also be able to communicate their intent to the people around them using expressive robot behaviors.…

People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…

End-to-end robot policies achieve high performance through neural networks trained via reinforcement learning (RL). Yet, their black box nature and abstract reasoning pose challenges for human-robot interaction (HRI), because humans may…

In this work, we use the communication of intent as a means to facilitate cooperation between autonomous vehicle agents. Generally speaking, intents can be any reliable information about its future behavior that a vehicle communicates with…

Text-writing robots have been used in assistive writing and drawing applications. However, robots do not convey emotional tones in the writing process due to the lack of behaviors humans typically adopt. To examine how people interpret…

Human-robot interaction exerts influence towards the human, which often changes behavior. This article explores an externality of this changed behavior - preference change. It expands on previous work on preference change in AI systems.…

Human-robot collaboration including close physical human-robot interaction (pHRI) is a current trend in industry and also science. The safety guidelines prescribe two modes of safety: (i) power and force limitation and (ii) speed and…

When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…

As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a…

Often robots are seen as a means to an end to fulfill a logical objective task. Android robots, on the other hand, provide new possibilities to fulfill emotional tasks and could therefore be integrated into assistive scenarios. We explored…

The field of autonomous robotics is growing at a rapid rate. The trend to use increasingly more sensors in vehicles is driven both by legislation and consumer demands for higher safety and reliable service. Nowadays, robots are found…

The high request for autonomous and flexible HRI implies the necessity of deploying Machine Learning (ML) mechanisms in the robot control. Indeed, the use of ML techniques, such as Reinforcement Learning (RL), makes the robot behaviour,…

Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…

Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…

A challenge in using robots in human-inhabited environments is to design behavior that is engaging, yet robust to the perturbations induced by human interaction. Our idea is to imbue the robot with intrinsic motivation (IM) so that it can…