From human-intention recognition to
compliant control using dynamical systems
in physical human-robot interaction
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There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...
The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...
Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...
As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...
Humans can express their actions and intentions, resorting to verbal and/or non-verbal communication. In verbal communication, humans use language to express, in structured linguistic terms, the desired action they wish to perform. Non-verbal communication ...
Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are sufficiently high ...
Bimanual grabbing and tossing of packages onto trays or conveyor belts remains a human activity in the industry. For robots, such a dynamic task requires coordination between two arms and fast adaptation abilities when the tossing target is moving and subj ...
In this letter we consider mean field type control problems with multiple species that have different dynamics. We formulate the discretized problem using a new type of entropy-regularized multimarginal optimal transport problems where the cost is a decomp ...
The collective behavior of animals has been traditionally studied through observation, quantitative models of behavior, and devices of low intelligence. Nowadays, the advancements in the field of robotics allow for closed-loop experiments that occur in rea ...
Computers have long been augmenting human capabilities and communication, and with emerging technologies, physical immersion in virtual worlds is now attainable. These advancements push the boundaries of human potential, allowing designers, architects, eng ...
