Motion planning for hand-over between human and robot

Kajikawa, Shinya; Okino, T.; Ohba, Kohtaro; Inooka, Hikaru

doi:10.1109/iros.1995.525796

Cited by 33 publications

(21 citation statements)

References 12 publications

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“…Trajectories and velocity profiles adopted by humans both in the role of giver and receiver are analyzed in (Shibata, Tanaka, & Shimizu, 1995). Simulation results for a controller that mimics the characteristics of human handovers are presented in (Kajikawa, Okino, Ohba, & Inooka, 1995). The social modification of pickand-place movements is demonstrated in (Becchio, Sartori, & Castiello, 2010) comparing velocity profiles for placing an object on a container versus another person's palm.…”

Section: Studies Of Human-human Handoversmentioning

confidence: 99%

Towards Seamless Human-Robot Handovers

Strabala

Lee

Dragan

et al. 2013

JHRI

224

147

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A handover is a complex collaboration, where actors coordinate in time and space to transfer control of an object. This coordination comprises two processes: the physical process of moving to get close enough to transfer the object, and the cognitive process of exchanging information to guide the transfer. Despite this complexity, we humans are capable of performing handovers seamlessly in a wide variety of situations, even when unexpected. This suggests a common procedure that guides all handover interactions. Our goal is to codify that procedure. To that end, we first study how people hand objects to each other in order to understand their coordination process and the signals and cues that they use and observe with their partners. Based on these studies, we propose a coordination structure for human-robot handovers that considers the physical and social-cognitive aspects of the interaction separately. This handover structure describes how people approach, reach out their hands, and transfer objects while simultaneously coordinating the what, when, and where of handovers: to agree that the handover will happen (and with what object), to establish the timing of the handover, and to decide the configuration at which the handover will occur. We experimentally evaluate human-robot handover behaviors that exploit this structure, and offer design implications for seamless human-robot handover interactions.

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Section: Studies Of Human-human Handoversmentioning

confidence: 99%

Towards Seamless Human-Robot Handovers

Strabala

Lee

Dragan

et al. 2013

JHRI

224

147

View full text Add to dashboard Cite

show abstract

“…The dual task of human to robot object delivery has also been studied in previous works. Kajikawa et al [19,20] described a robot that receives an object by mimicking human trajectory and velocity profile. The system was evaluated in both simulation and a real environment.…”

Section: Related Workmentioning

confidence: 99%

An Affordance Sensitive System for Robot to Human Object Handover

Aleotti

Micelli

Caselli

2014

Int J of Soc Robotics

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One of the most important characteristics that needs to be taken into account while designing advanced human-robot interaction systems is the ability of the robot to behave in a socially acceptable way that is comfortable for humans. This paper presents a novel system for robot to human object handover that maximizes user's convenience while receiving the object. The object is delivered to the receiving partner such that the most appropriate part is oriented towards him/her. The system has been developed supporting all the necessary phases of the handover task, including object recognition, people detection, robot motion planning, and automatic detection of user's grasp. Moreover, voice recognition and text-to-speech have been integrated to enable natural object selection in environments that include multiple objects. The experimental setup consists of a six degree of freedom robot arm equipped with a two-finger gripper and an eye-in-hand laser scanner for object recognition, as well as a fixed range sensor for people and grasp detection. A user study has been conducted to assess the usability of the system and verify whether novice users can successfully accomplish a handover task with the system. The user study has confirmed that the proposed solution allows a more comfortable handover than a system disregarding object orientation.

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“…Different aspects of robot-human hand-overs have been studied within robotics, including motion control and planning [54]- [57], grasp planning [58], social interaction [59]- [61] and grip forces during hand-over [62], [63]. A few of these report results from user-studies involving hand-overs between a physical robot and a human [55], [59]- [61].…”

Section: Interacting With Peoplementioning

confidence: 99%

Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home

et al. 2012

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Abstract-We present the hardware design, software architecture, and core algorithms of HERB 2.0, a bimanual mobile manipulator developed at the Personal Robotics Lab at Carnegie Mellon University. We have developed HERB 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments.

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Motion planning for hand-over between human and robot

Cited by 33 publications

References 12 publications

Towards Seamless Human-Robot Handovers

Towards Seamless Human-Robot Handovers

An Affordance Sensitive System for Robot to Human Object Handover

Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home

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