相关论文: Human-Likeness Indicator for Robot Posture Control…

Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…

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.…

To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with…

When presented with an unknown robot (subject) how can an autonomous agent (learner) figure out what this new robot can do? The subject's appearance can provide cues to its physical as well as cognitive capabilities. Seeing a humanoid can…

Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…

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)…

This paper examines the effect of real-time, personalized alignment of a robot's reward function to the human's values on trust and team performance. We present and compare three distinct robot interaction strategies: a non-learner strategy…

Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…

In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…

The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore,…

Cane-type robots have been utilized to assist and supervise the mobility-impaired population. One essential technique for cane-type robots is human following control, which allows the robot to follow the user. However, the limited…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…

Social, also called human-aware, navigation is a key challenge for the integration of mobile robots into human environments. The evaluation of such systems is complex, as factors such as comfort, safety, and legibility must be considered.…

Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…

One key area of research in Human-Robot Interaction is solving the human-robot correspondence problem, which asks how a robot can learn to reproduce a human motion demonstration when the human and robot have different dynamics and kinematic…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

The robust balancing capability of humanoids is essential for mobility in real environments. Many studies focus on implementing human-inspired ankle, hip, and stepping strategies to achieve human-level balance. In this paper, a robust…

Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…