human-robot interaction

ROOTED (ROS2 Open-source Toolkit for Efficient Dialogue), is a framework for developing adaptable dialogue systems for social robots. ROOTED combines rule-based dialogue generation, web search, and LLMs to better adhere to Gricean Maxims by grounding responses. It also includes components for non-verbal communication analysis and generation. ROOTED’s capabilities are demonstrated through its deployment in the Social Plantroid Robot, which uses ROOTED for managing interactions and emotional responses.

This is an additional implementation for a robot framework for the SLAM using camera, pose estimation and image segmentation of human. This is used with path planning techniques that allow human and robot to cohabitate in shared environment.

Experimental procedure, design, and requirements for the scientific SocCred project.

Python code for Physical Human-Robot Collaboration (PHRC).

References: L. Peternel, et al., A human–robot co-manipulation approach based on human sensorimotor information, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 25(7), 811-822, 2017

L. Peternel, et al., Robot adaptation to human physical fatigue in human–robot co-manipulation, Autonomous Robots, 42(5), 1011-1021, 2018

L. Peternel, et al., A selective muscle fatigue management approach to ergonomic human-robot co-manipulation Robotics and Computer-Integrated Manufacturing, 58, 69-79, 2019