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Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are…
Wearable technology has significantly improved the quality of life for older adults, and the emergence of on-body, movable robots presents new opportunities to further enhance well-being. Yet, the interaction design for these robots remains…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However,…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…
When encountering a robot in the wild, it is not inherently clear to human users what the robot's capabilities are. When encountering misunderstandings or problems in spoken interaction, robots often just apologize and move on, without…
Recent advances in humanoid whole-body motion tracking have enabled the execution of diverse and highly coordinated motions on real hardware. However, existing controllers are commonly driven either by predefined motion trajectories, which…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
This review is the first step in a long-term research project exploring how social robotics and AI-generated content can contribute to the creative experiences of older adults, with a focus on collaborative drawing and painting. We…
Human-AI co-creativity involves humans and AI collaborating on a shared creative product as partners. In a creative collaboration, communication is an essential component among collaborators. In many existing co-creative systems users can…
With momentum increasing in the use of social robots as long-term assistive and collaborative partners, humans developing social bonds with these artificial agents appears to be inevitable. In human-human dyads, social bonding plays a…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
Technical advances in collaborative robots (cobots) are making them increasingly attractive to companies. However, many human operators are not trained to program complex machines. Instead, humans are used to communicating with each other…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, which limits their versatility. In this work, we present…
Humanoid robots will be able to assist humans in their daily life, in particular due to their versatile action capabilities. However, while these robots need a certain degree of autonomy to learn and explore, they also should respect…
We humans are biased - and our robotic creations are biased, too. Bias is a natural phenomenon that drives our perceptions and behavior, including when it comes to socially expressive robots that have humanlike features. Recognizing that we…