相关论文: Human-Robot Kinaesthetic Interaction Based on Free…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
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…
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
4D reconstruction of human-object interaction is critical for immersive VR/AR experience and human activity understanding. Recent advances still fail to recover fine geometry and texture results from sparse RGB inputs, especially under…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
When humans interact with robots influence is inevitable. Consider an autonomous car driving near a human: the speed and steering of the autonomous car will affect how the human drives. Prior works have developed frameworks that enable…
Recent advances in machine learning have paved the way for the development of musical and entertainment robots. However, human-robot cooperative instrument playing remains a challenge, particularly due to the intricate motor coordination…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…
Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action's perceived pleasure, which is susceptible to changes over time. This makes decision-making more…
Many of us researchers take extra measures to control for known-unknowns. However, unknown-unknowns can, at best, be negligible, but otherwise, they could produce unreliable data that might have dire consequences in real-life downstream…
A service robot can provide a smoother interaction experience if it has the ability to proactively detect whether a nearby user intends to interact, in order to adapt its behavior e.g. by explicitly showing that it is available to provide a…
A single mobile service robot may generate hundreds of encounters with pedestrians, yet there is little published data on the factors influencing these incidental human-robot encounters. We report the results of a between-subjects…
Dynamical systems across many disciplines are modeled as interacting particles or agents, with interaction rules that depend on a very small number of variables (e.g. pairwise distances, pairwise differences of phases, etc...), functions of…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
To facilitate effective human-robot interaction (HRI), trust-aware HRI has been proposed, wherein the robotic agent explicitly considers the human's trust during its planning and decision making. The success of trust-aware HRI depends on…