8 accepted papers
Robots fail, potentially leading to a loss in the robot’s perceived reliability (PR), a measure correlated with trustworthiness. In this study we examine how various kinds of failures affect the PR of the robot differently, and how this measure recovers without explicit social repair actions by the …
As artificial intelligence (AI) is playing an increasingly important role in our society and global economy, AI education and literacy have become necessary components in college and K-12 education to prepare students for an AI-powered society. However, current AI curricula have not yet been made ac…
Supernumerary robotic devices in the form of wearable arms enhance a user's reachable workspace and provide them with additional capabilities. However, the user may experience considerable force and moment loads on their body due to the robot's motion. In this letter, we present a simulation and tra
We evaluate the potential of Guided Policy Search (GPS), a model-based reinforcement learning (RL) method, to train a robot controller for human-robot object handovers. Handovers are a key competency for collaborative robots and GPS could be a promising approach for this task, as it is data efficien
We present the results of two studies investigating gaze behaviors of a robot receiving an object from a human. Robot gaze is an important nonverbal behavior during human-robot handovers, yet prior work has only studied robots as givers. From a frame-by-frame video analysis of human-human handovers,
This paper combines techniques from Formal Methods and Human-Robot Interaction (HRI) to address the challenge of a robot walking with a human while maintaining a socially acceptable distance and avoiding collisions. We formulate a set of constraints on the robot motion using Satisfiability Modulo Th…
We present a controller for human-robot handovers that is automatically synthesized from high-level specifications in Signal Temporal Logic (STL). In contrast to existing controllers, this approach can provide formal guarantees on the timing of each of the handover phases. Using synthesis also allow…
This paper presents the design of a wearable robotic forearm for close-range human-robot collaboration. The robot's function is to serve as a lightweight supernumerary third arm for shared workspace activities. We present a functional prototype resulting from an iterative design process including se…