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This paper focuses on empowering the humanoid TIAGo robot as a support for providing assistance and aid to humans. With this purpose, we investigate the feasibility of learning assistive and collaborative physical human-robot interactions in simulation by comparing two conditions: (a) passive user namely all the tasks are delegated to the robot vs. (b) active user where the user is actively involved in the interactions. Different assistive and collaborative daily tasks are assessed in both modalities. The results confirm a more effective physical HRI and better performance when both agents contribute to the tasks.

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Empowering TIAGo Robot for Learning Assistive and Collaborative Human-Robot Interactions to Assist Humans

  • 会议论文

  • 发表日期：

    2025年

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  • Gloria Beraldo,
  • Federico Pivotto,
  • Angelo Oddi,
  • Riccardo Rasconi

摘要

This paper focuses on empowering the humanoid TIAGo robot as a support for providing assistance and aid to humans. With this purpose, we investigate the feasibility of learning assistive and collaborative physical human-robot interactions in simulation by comparing two conditions: (a) passive user namely all the tasks are delegated to the robot vs. (b) active user where the user is actively involved in the interactions. Different assistive and collaborative daily tasks are assessed in both modalities. The results confirm a more effective physical HRI and better performance when both agents contribute to the tasks.