Physical Human-Robot Interaction
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Safe, Fluent and Acceptable Motion Generation and Execution for Human--Robot Interaction in Manufacturing Environments
arXiv:2606.08741v1 Announce Type: new Abstract: Robots operating in human environments must not only ensure physical safety but also exhibit behaviors that are understandable, fluent, and acceptable to human partners. This paper investigates motion generation strategies that combine safety guarantees with interaction quality considerations, such as motion smoothness and human comfort. While the design of robots capable of ensuring safety in shared human-robot environments has enabled closer...
Impedance MPC for Physical Human-Robot Interaction: Predictive Disturbance Rejection with Joint-Limit Safety
arXiv:2606.08281v1 Announce Type: new Abstract: Physical human-robot interaction (pHRI) demands simultaneous trajectory accuracy and compliant safety under unplanned contact. Classical impedance control incurs a nonzero steady-state position error under sustained human force -- the applied force divided by the task stiffness -- which integral action reduces only within a narrow stable-gain budget. We present a two-layer Impedance MPC that resolves this tension.
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
arXiv:2605.28367v5 Announce Type: replace Abstract: Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose an online adaptive impedance control framework that enforces joint-state safety while achieving compliant interaction under uncertain dynamics. The approach combines a quadratic-program-based safety...
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
arXiv:2605.28367v4 Announce Type: replace Abstract: Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose an online adaptive impedance control framework that enforces joint-state safety while achieving compliant interaction under uncertain dynamics. The approach combines a quadratic-program-based safety...
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
arXiv:2605.28367v3 Announce Type: replace Abstract: Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose an online adaptive impedance control framework that enforces joint-state safety while achieving compliant interaction under uncertain dynamics. The approach combines a quadratic-program-based safety...
Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
arXiv:2606.03476v1 Announce Type: new Abstract: Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial morphological discrepancies between humans and robots, including differences in skeletal topology, limb proportions and degrees of freedom, as well as the scarcity of paired motion data. This paper presents Human2Humanoid, an unsupervised motion retargeting framework...
GN0: Toward a Unified Paradigm for Generation, Evaluation, and Policy Learning in Visual-Language Navigation
arXiv:2606.03682v1 Announce Type: new Abstract: Embodied navigation connects intelligent agents with the physical world and is fundamental for general robotic intelligence. Limited availability and quality of navigation data have constrained Vision-and-Language Navigation (VLN) systems' generalization and long-horizon capabilities. To address this, we curate diverse 3D scenes and develop an automated pipeline for large-scale navigation data, resulting in the GN-Matrix dataset.
From AI robot baristas to military drones: The weird and wonderful tech at Computex 2026
Euronews Next spotlights the most innovative and intriguing tech at the conference in Taiwan. With advances in robotics, artificial intelligence, an array of laptops and drones, the Computex technology conference in Taiwan went far beyond Nvidia's headline-making announcements to showcase the technologies that could have a wide-ranging impact our daily lives. Euronews Next attended the conference and scoured the show floors to find the weird and wonderful as well as useful technological...