相关论文: Collaborative Object Handover in a Robot Crafting …
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
As robot technology advances, collaboration between humans and robots will become more prevalent in industrial tasks. When humans run into issues in such scenarios, a likely future involves relying on artificial agents or robots for aid.…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components…
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
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…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
Despite great advances in what robots can do, they still experience failures in human-robot collaborative tasks due to high randomness in unstructured human environments. Moreover, a human's unfamiliarity with a robot and its abilities can…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
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…
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
Human-robot collaboration (HRC) relies on accurate and timely recognition of human intentions to ensure seamless interactions. Among common HRC tasks, human-to-robot object handovers have been studied extensively for planning the robot's…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational…
The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…