相关论文: Learning Human-arm Reaching Motion Using IMU in Hu…

This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it…

Deep reinforcement learning (RL) has shown promising results in robot motion planning with first attempts in human-robot collaboration (HRC). However, a fair comparison of RL approaches in HRC under the constraint of guaranteed safety is…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

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.…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

In physical human-robot collaboration (pHRC) settings, humans and robots collaborate directly in shared environments. Robots must analyze interactions with objects to ensure safety and facilitate meaningful workflows. One critical aspect is…

In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…

This work aims to tackle the intent recognition problem in Human-Robot Collaborative assembly scenarios. Precisely, we consider an interactive assembly of a wooden stool where the robot fetches the pieces in the correct order and the human…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four…

Human-robot collaboration (HRC) in the construction industry depends on precise and prompt recognition of human motion intentions and actions by robots to maximize safety and workflow efficiency. There is a research gap in comparing data…

Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…

Human Activity Recognition (HAR) using wearable devices such as smart watches embedded with Inertial Measurement Unit (IMU) sensors has various applications relevant to our daily life, such as workout tracking and health monitoring. In this…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…

The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…

We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…

Objects, in particular tools, provide several action possibilities to the agents that can act on them, which are generally associated with the term of affordances. A tool is typically designed for a specific purpose, such as driving a nail…

As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…