相关论文: Vision-Based Safety System for Barrierless Human-R…

We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…

As factories continue to evolve into collaborative spaces with multiple robots working together with human supervisors in the loop, ensuring safety for all actors involved becomes critical. Currently, laser-based light curtain sensors are…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…

While much research explores improving robot capabilities, there is a deficit in researching how robots are expected to perform tasks safely, especially in high-risk problem domains. Robots must earn the trust of human operators in order to…

This study addresses the challenge of integrating social norms into robot navigation, which is essential for ensuring that robots operate safely and efficiently in human-centric environments. Social norms, often unspoken and implicitly…

Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…

Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…

This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction…

Collaborative AI systems aim at working together with humans in a shared space to achieve a common goal. This setting imposes potentially hazardous circumstances due to contacts that could harm human beings. Thus, building such systems with…

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…

The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…

This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…

Safe control in unknown environments is a significant challenge in robotics. While Control Barrier Functions (CBFs) are widely used to guarantee system safety, they often assume known environments with predefined obstacles. The proposed…

This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…

Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…

This paper introduces a vision-based framework for capturing and understanding human behavior in industrial assembly lines, focusing on car door manufacturing. The framework leverages advanced computer vision techniques to estimate workers'…

We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…