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In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…

For robots to perform assistive tasks in unstructured home environments, they must learn and reason on the semantic knowledge of the environments. Despite a resurgence in the development of semantic reasoning architectures, these methods…

A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to…

Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…

We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities)…

We envision robots that can collaborate and communicate seamlessly with humans. It is necessary for such robots to decide both what to say and how to act, while interacting with humans. To this end, we introduce a new task, dialogue object…

In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…

Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…

Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…

Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…

We consider a service robot that offers chocolate treats to people passing in its proximity: it has the capability of predicting in advance a person's intention to interact, and to actuate an "offering" gesture, subtly extending the tray of…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…

Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…