相关论文: Situated Live Programming for Human-Robot Collabor…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
As AI systems become more prevalent, concerns about their development, operation, and societal impact intensify. Establishing ethical, social, and safety standards amidst evolving AI capabilities poses significant challenges. Global…
Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Programming robots for general purpose applications is extremely challenging due to the great diversity of end-user tasks ranging from manufacturing environments to personal homes. Recent work has focused on enabling end-users to program…
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…
Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…
Recently, human-robot interaction (HRI) is an extensive research topic and theme which gained importance and significance. HRI aims at the complementary combination between the robot capabilities and human skills. The robots assist humans…
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
Robots are moving beyond industrial settings into creative, educational, and public environments where interaction is open-ended and improvisational. Yet much of human-AI-robot interaction remains framed around performance and efficiency,…
In this paper, we present a cyber-physical testbed created to enable a human-robot team to perform a shared task in a shared workspace. The testbed is suitable for the implementation of a tabletop manipulation task, a common human-robot…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
Programming robots by demonstration (PbD) is an intuitive concept, but scaling it to real-world variability remains a challenge for most current teaching frameworks. Conditional task graphs are very expressive and can be defined…
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…