相关论文: An Ergonomic Role Allocation Framework for Dynamic…

In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…

In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

Fluent human-robot collaboration requires a robot teammate to understand, learn, and adapt to the human's psycho-physiological state. Such collaborations require a computing system that monitors human physiological signals during…

Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…

Objective: The status of human-robot collaboration for assembly applications is reviewed and key current challenges for the research community and practitioners are presented. Background: As the pandemic of COVID-19 started to surface the…

Human-robot interaction (HRI) research is progressively addressing multi-party scenarios, where a robot interacts with more than one human user at the same time. Conversely, research is still at an early stage for human-robot collaboration.…

This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…

In warehousing systems, to enhance logistical efficiency amid surging demand volumes, much focus is placed on how to reasonably allocate tasks to robots. However, the robots labor is still inevitably wasted to some extent. In response to…

Robots are envisioned to work alongside humans in applications ranging from in-home assistance to collaborative manufacturing. Research on human-robot collaboration (HRC) has helped develop various aspects of social intelligence necessary…

Though construction robots have drawn attention in research and practice for decades, human-robot collaboration (HRC) remains important to conduct complex construction tasks. Considering its complexity and uniqueness, it is still unclear…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…

Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…

The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

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…

Many organizations depend on human decision-makers to make subjective decisions, especially in settings where information is scarce. Although workers are often viewed as interchangeable, the specific individual assigned to a task can…

Successful human-robot teaming will require robots to adapt autonomously to a human teammate's internal state, where a critical element of such adaptation is the ability to estimate the human's workload in unknown situations. Existing…