2021
DOI: 10.1109/tro.2021.3075365
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Object Handovers: A Review for Robotics

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Cited by 115 publications
(96 citation statements)
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“…Slip can be disastrous (e.g., when transporting a fragile object) or advantageous (e.g., when pushing an object without lifting it) depending on the context [3]. In robotics, the well-studied 'handover' task, which involves passing an object from a robot hand to a human hand, requires control of the gripping force with accuracy and speed to avoid significant slip [4]. The requisite feedback can only be provided through tactile sensing [5] and, consequently, the detection and control of slip is fundamental to the completion of handovers and many other tasks.…”
Section: Introductionmentioning
confidence: 99%
See 1 more Smart Citation
“…Slip can be disastrous (e.g., when transporting a fragile object) or advantageous (e.g., when pushing an object without lifting it) depending on the context [3]. In robotics, the well-studied 'handover' task, which involves passing an object from a robot hand to a human hand, requires control of the gripping force with accuracy and speed to avoid significant slip [4]. The requisite feedback can only be provided through tactile sensing [5] and, consequently, the detection and control of slip is fundamental to the completion of handovers and many other tasks.…”
Section: Introductionmentioning
confidence: 99%
“…Final grasp within 6 cm of the initial grasp position 4. Final grasp between 6-12 cm of the initial grasp position.…”
mentioning
confidence: 99%
“…Robots supporting people in their daily activities at home or at the workplace need to accurately and robustly perceive objects, such as containers, and their physical properties, for example when they are manipulated by a person prior to a human-to-robot handover [1,2,3,4,5]. Audio-visual perception should adapt -on-the-fly and with limited or no prior knowledge -to changing conditions in order to guarantee the correct execution of the task and the safety of the person.…”
Section: Introductionmentioning
confidence: 99%
“…Audio-visual perception should adapt -on-the-fly and with limited or no prior knowledge -to changing conditions in order to guarantee the correct execution of the task and the safety of the person. For assistive scenarios at home, audio-visual perception should accurately and robustly estimate the physical properties (e.g., weight and shape) of household containers, such as cups, drinking glasses, mugs, bottles, and food boxes [1,4,6,7,8]. However, the material, texture, transparency and shape can vary considerably across containers and also change with their content, which may not be visible due to the opaqueness of the container or occlusions, and hence should be inferred through the behaviour of the human [1,7,8,9,10].…”
Section: Introductionmentioning
confidence: 99%
“…Estimating the physical properties of objects is fundamental for the success and safety of human-robot collaboration [1]. A robot is a completely autonomous system and is supposed to extract information of the target object in order to assist the human correctly.…”
Section: Introductionmentioning
confidence: 99%