Towards Collaborative Partners: Design, Shared Control, and Robot Learning for Physical Human-Robot Interaction
ICRA 2024 Workshop
13 May 2024, 9:00 AM - 5:00 PM
Conference Center, Room 411-412
description
As robots increasingly become part of our daily lives, the key challenge is to ensure that they are safe, responsive, and constantly improving while physically interacting with us on the short or the long term. To address this, our workshop discusses three main questions. First, how can we harness innovations in robot design to make robots inherently safe for physical human-robot interaction (pHRI)? This involves the exploration of technologies like soft robotics and haptics to ensure security and comfort in close human contact. Second, how can robots instantly and appropriately react during real-time human interactions? This can be achieved by integrating shared control strategies to make robots adjust their actions to ensure seamless collaboration. Third, how can robots learn from every interaction to be better partners and earn our trust? This encompasses robot learning algorithms and considers how human modeling and feedback can improve these robot partners over time.
The main objectives of this workshop are:
1) To investigate how each of these areas contributes to the improvement of pHRI.
2) To discuss strategies that effectively combine these approaches for a holistic progress in the field.
speakers
Assistant ProfessorCase Western Reserve University
Title: Designing an interactive hugging robot for social-physical human-robot interaction
ProfessorStanford University
Title: Distributed stiffness wearable haptic displays for physical human-robot interaction
Permanent ResearcherAIST
Title: Staying in Touch: Controlling Human-Robot Interactions with Sustained Contact
Assistant ProfessorUniversity of Nottingham
Title: Learning to Assist: Variable Autonomy in Human-Robot Collaborative Work
Assistant ProfessorTU Delft
Title: Design of control methods and interfaces for mutual adaptation in human-robot co-manipulation
ProfessorMonash University
Title: Learning for Human-Robot Interaction: The Role of Simulations
Assistant ProfessorNational University of Singapore
Title: Generating Safe Trajectories with Diffusion Models
contributions
Accepted Posters:
Poster Session 1
Yuta Yamabata, Ayato Kanada, Yasutaka Nakashima, and Motoji Yamamoto: Mechanical Model for Storage in an Extendable Robotic Arm
Ali Ayub, Joshua Scripcaru, Kerstin Dautenhahn, and Chrystopher L. Nehaniv: Human Intent Prediction for Collaborative Carrying
Cedric Goubard and Yiannis Demiris: Cooking with Confidence: Towards Trustworthy Robotic Assistants Through Proficiency Self-Assessment
Cunjun Yu, Zhimin Hou, Yiqing Xu, and David Hsu: Play-to-Coach: Coaching Humans to Play Airhockey with Robots
Nam Phuong Dam and Van Anh Ho: Tactile Soft Robotic Skin with Changeable Structure for Full Body Interactive Soft Robot
Sangbeom Park, Taerim Yoon, Joonhyung Lee, Sunghyun Park, and Sungjoon Choi: Quality-Diversity based Semi-Autonomous Teleoperation using Reinforcement Learning
Shivam Chaubey, Francesco Verdoja, and Ville Kyrki: Jointly Learning Cost and Constraints from Demonstrations for Safe Trajectory Generation
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, and Sami Haddadin: Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions
Chengzong Zhao, Aayush Deshpande, David Liu, Colin Bellinger, and Pengcheng Xi: An Assistive Robotic Framework for Empowering Elderly Independence
Luigi Berducci, Shuo Yang, Mirco Giacobbe, Rahul Mangharam, and Radu Grosu: Safe Learning under Assumptions in Human-Robot Systems
Robin Jeanne Kirschner, Yangcan Zhou, Jinyu Yang, Edonis Elshani, Carina M. Micheler, Tobias Leibbrand, Nader Rajaei, Rainer Burgkart, and Sami Haddadin: Towards A Full Injury Understanding in pHRI: Test Setups and Procedures to Evaluate Human Injury Severity in Collision Situations
Guillaume Lorthioir, Mehdi Benallegue, Rafael Limon Cisneros, Ixchel Ramirez: Enhancing Teleoperation in Dynamic Environments: A Novel Shared Autonomy Framework Leveraging Multimodal Language Models
Poster Session 2
Byeongho Lee, Yonghyeon Lee, Junsu Ha, and Frank C. Park: Behavior-Controllable Stable Dynamics Models in Riemannian Configuration Manifolds
Yifei Simon Shao, Tianyu Li, Shafagh Keyvanian, Pratik Chaudhari, Vijay Kumar, and Nadia Figueroa: A Dynamical System Approach to Intent Estimation and Co-Manipulation
Yi Wang, Ko Ayusawa, Eiichi Yoshida, and Gentiane Venture: Emotional Motion Planning with Learned Constraints and Weighted Cost
Chanin Eom, Dongsu Lee, and Minhae Kwon: Efficient Online Reinforcement Learning with Selective Imitation of Prior Datasets
Yunyue Wei, Chenhui Zuo, and Yanan Sui: High-Dimensional Safe Bayesian Optimization for Human-Machine Interaction
Tasbolat Taunyazov, Kelvin Lin, and Harold Soh: Towards Soft Compliant Cartesian Impedance Controller with Tactile Sensing
Mathieu Celerier, Mehdi Benallegue, and Gentiane Venture: Turing test for pHRI: Evaluation of General Human Robot Interaction
Riya Arora, Niveditha Narendranath, Sandeep S. Zachariah, Aman Tambi, Souvik Chakraborty, and Rohan Paul: Generalized Grounded Temporal Reasoning with Foundation Models for Language-guided Robot Manipulation
Christian Mele, Jhilik Bose, James Tung, and Katja Mombaur: Biofidelic Knee Mannequin Design for pHRI Evaluation of Lower-Limb Exoskeletons
Peter S. Lee, and Katja Mombaur: Human-Centred Investigations toward Comprehending Human Adaptation Behaviour to Active Lower Limb Exoskeleton Use
Hugo T. M. Kussaba, Rafael I. Cabral Muchacho, Riddhiman Laha, Luis Figueredo, Fares J. Abu-Dakka, Aude Billard, and Sami Haddadin: Enhancing non-expert demonstrations with the geodesic flow
Luca Morando and Giuseppe Loianno: Spatial Assisted Human-Drone Collaborative Navigation and Interaction through Immersive Mixed Reality
important dates
We accept submissions for contributions starting: 1 February 2024
Final Submission Deadline: 15 March 2024 (23:59 PST)
Notification of Acceptance: 5 April 2024
Workshop: 13 May 2024
schedule
9:00 AM Welcoming Remarks
9:15 AM Dana Kulić
9:45 AM Allison Okamura
10:15 AM Coffee Break: Poster Session 1
11:15 AM Mehdi Benallegue
11:45 AM Harold Soh
12:15 PM Alexis Block
12:45 PM Lunch
2:00 PM Round Table
3:00 PM Coffee Break: Poster Session 2
4:00 PM Luka Peternel
4:30 PM Ayse Kucukyilmaz
5:00 PM Closing Remarks
organizers
student organizers
contact
If you have any questions about this workshop, please contact:
Hisham Khalil (hisham.khalil@uwaterloo.ca)
