相关论文: Comparing Subjective Perceptions of Robot-to-Human…

Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd…

With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

The primary aim of this paper is to investigate the integration of emotions into the social navigation framework to analyse its effect on both navigation and human physiological safety and comfort. The proposed framework uses leg detection…

Mobile robots have recently been deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…

Robots are increasingly being deployed in public spaces. However, the general population rarely has the opportunity to nominate what they would prefer or expect a robot to do in these contexts. Since most people have little or no experience…

Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…

Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…

Handovers frequently occur in our social environments, making it imperative for a collaborative robotic system to master the skill of handover. In this work, we aim to investigate the relationship between the grip force variation for a…

Human--robot interaction requires robots whose actions are legible, allowing humans to interpret, predict, and feel safe around them. This study investigates the legibility of humanoid robot arm movements in a pointing task, aiming to…

We propose the first framework to learn control policies for vision-based human-to-robot handovers, a critical task for human-robot interaction. While research in Embodied AI has made significant progress in training robot agents in…

We address the problem of (a) predicting the trajectory of an arm reaching motion, based on a few seconds of the motion's onset, and (b) leveraging this predictor to facilitate shared-control manipulation tasks, easing the cognitive load of…

We investigated how a robot moving with different velocity profiles affects a person's perception of it when working together on a task. The two profiles are the common linear profile and a profile based on the animation principles of slow…

The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…

The integration of humanoid and animal-shaped robots into specialized domains, such as healthcare, multi-terrain operations, and psychotherapy, necessitates a deep understanding of proxemics--the study of spatial behavior that governs…

Robots that share an environment with humans may communicate their intent using a variety of different channels. Movement is one of these channels and, particularly in manipulation tasks, intent communication via movement is called…

Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…

In an effort to improve how robots function in social contexts, this paper investigates if a robot that actively shares a reaction to an event with a human alters how the human perceives the robot's affective impact. To verify this, we…

When personal, assistive, and interactive robots make mistakes, humans naturally and intuitively correct those mistakes through physical interaction. In simple situations, one correction is sufficient to convey what the human wants. But…