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As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
Recent research has examined the possibility of using robots to guide evacuees to safe exits during emergencies. Yet, there are many factors that can impact a person's decision to follow a robot. Being able to model how an evacuee follows…
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platforms have been designed to consider reaching casualties and…
Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…
Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control…
RL is increasingly being used to control robotic systems that interact closely with humans. This interaction raises the problem of safe RL: how to ensure that a RL-controlled robotic system never, for instance, injures a human. This problem…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
While interacting with another person, our reactions and behavior are much affected by the emotional changes within the temporal context of the interaction. Our intrinsic affective appraisal comprising perception, self-assessment, and the…
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i)…
Continuum robots, made from flexible materials with continuous backbones, have several advantages over traditional rigid robots. Some of them are the ability to navigate through narrow or confined spaces, adapt to irregular or changing…