A human-inspired object handover controller

Wesley P. Chan, Chris A. C. Parker, H. F. Machiel Van der Loos, Elizabeth A. Croft

Research output: Contribution to journalArticleResearchpeer-review

37 Citations (Scopus)


In this paper, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot's handover behavior. The controller enables a robot to mimic human behavior by actively regulating the applied grip force according to the measured load force during a handover. We provide an implementation of the controller on a Willow Garage PR2 robot, demonstrating the feasibility of realizing our design on robots with basic sensor/actuator capabilities. A user study comparing four variations of our controller shows that our design yields both human-like and human-preferred object handovers.

Original languageEnglish
Pages (from-to)971-983
Number of pages13
JournalInternational Journal of Robotics Research
Issue number8
Publication statusPublished - 1 Jul 2013
Externally publishedYes


  • object handover controller
  • robot-to-human handover

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