Characterization of handover orientations used by humans for efficient robot to human handovers

Wesley P. Chan; Matthew K.X.J. Pan; Elizabeth A. Croft; Masayuki Inaba

doi:10.1109/IROS.2015.7353106

Characterization of handover orientations used by humans for efficient robot to human handovers

Wesley P. Chan
, Matthew K.X.J. Pan
, Elizabeth A. Croft
, Masayuki Inaba

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

35 Citations (Scopus)

Abstract

To enable robots to learn handover orientations from observing natural handovers, we conduct a user study to measure and compare natural handover orientations with giver-centered and receiver-centered handover orientations for twenty common objects. We use a distance minimization approach to compute mean handover orientations. We posit that, computed means of receiver-centered orientations could be used by robot givers to achieve more efficient and socially acceptable handovers. Furthermore, we introduce the notion of affordance axes for comparing handover orientations, and offer a definition for computing them. Observable patterns were found in receiver-centered handover orientations. Comparisons show that depending on the object, natural handover orientations may not be receiver-centered; thus, robots may need to distinguish between good and bad handover orientations when learning from natural handovers.

Original language	English
Title of host publication	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Editors	Alois Knoll
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781479999941, 9781479999934
ISBN (Print)	9781479999958
DOIs	https://doi.org/10.1109/IROS.2015.7353106
Publication status	Published - 17 Dec 2015
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

Keywords

Atmospheric measurements
Collaboration
Handover
Particle measurements
Receivers
Robots

Access to Document

10.1109/IROS.2015.7353106

Cite this

Chan, W. P., Pan, M. K. X. J., Croft, E. A., & Inaba, M. (2015). Characterization of handover orientations used by humans for efficient robot to human handovers. In A. Knoll (Ed.), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) (pp. 1-6). (IEEE International Conference on Intelligent Robots and Systems). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2015.7353106

Chan, Wesley P. ; Pan, Matthew K.X.J. ; Croft, Elizabeth A. et al. / Characterization of handover orientations used by humans for efficient robot to human handovers. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). editor / Alois Knoll. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. pp. 1-6 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Characterization of handover orientations used by humans for efficient robot to human handovers",

abstract = "To enable robots to learn handover orientations from observing natural handovers, we conduct a user study to measure and compare natural handover orientations with giver-centered and receiver-centered handover orientations for twenty common objects. We use a distance minimization approach to compute mean handover orientations. We posit that, computed means of receiver-centered orientations could be used by robot givers to achieve more efficient and socially acceptable handovers. Furthermore, we introduce the notion of affordance axes for comparing handover orientations, and offer a definition for computing them. Observable patterns were found in receiver-centered handover orientations. Comparisons show that depending on the object, natural handover orientations may not be receiver-centered; thus, robots may need to distinguish between good and bad handover orientations when learning from natural handovers.",

keywords = "Atmospheric measurements, Collaboration, Handover, Particle measurements, Receivers, Robots",

author = "Chan, \{Wesley P.\} and Pan, \{Matthew K.X.J.\} and Croft, \{Elizabeth A.\} and Masayuki Inaba",

year = "2015",

month = dec,

day = "17",

doi = "10.1109/IROS.2015.7353106",

language = "English",

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series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "1--6",

editor = "Alois Knoll",

booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)",

address = "United States of America",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

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Chan, WP, Pan, MKXJ, Croft, EA & Inaba, M 2015, Characterization of handover orientations used by humans for efficient robot to human handovers. in A Knoll (ed.), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). IEEE International Conference on Intelligent Robots and Systems, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 1-6, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353106

Characterization of handover orientations used by humans for efficient robot to human handovers. / Chan, Wesley P.; Pan, Matthew K.X.J.; Croft, Elizabeth A. et al.
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). ed. / Alois Knoll. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2015. p. 1-6 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AU - Chan, Wesley P.

AU - Pan, Matthew K.X.J.

AU - Croft, Elizabeth A.

AU - Inaba, Masayuki

PY - 2015/12/17

Y1 - 2015/12/17

N2 - To enable robots to learn handover orientations from observing natural handovers, we conduct a user study to measure and compare natural handover orientations with giver-centered and receiver-centered handover orientations for twenty common objects. We use a distance minimization approach to compute mean handover orientations. We posit that, computed means of receiver-centered orientations could be used by robot givers to achieve more efficient and socially acceptable handovers. Furthermore, we introduce the notion of affordance axes for comparing handover orientations, and offer a definition for computing them. Observable patterns were found in receiver-centered handover orientations. Comparisons show that depending on the object, natural handover orientations may not be receiver-centered; thus, robots may need to distinguish between good and bad handover orientations when learning from natural handovers.

AB - To enable robots to learn handover orientations from observing natural handovers, we conduct a user study to measure and compare natural handover orientations with giver-centered and receiver-centered handover orientations for twenty common objects. We use a distance minimization approach to compute mean handover orientations. We posit that, computed means of receiver-centered orientations could be used by robot givers to achieve more efficient and socially acceptable handovers. Furthermore, we introduce the notion of affordance axes for comparing handover orientations, and offer a definition for computing them. Observable patterns were found in receiver-centered handover orientations. Comparisons show that depending on the object, natural handover orientations may not be receiver-centered; thus, robots may need to distinguish between good and bad handover orientations when learning from natural handovers.

KW - Atmospheric measurements

KW - Collaboration

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KW - Particle measurements

KW - Receivers

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BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)

A2 - Knoll, Alois

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Chan WP, Pan MKXJ, Croft EA, Inaba M. Characterization of handover orientations used by humans for efficient robot to human handovers. In Knoll A, editor, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2015. p. 1-6. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7353106

Characterization of handover orientations used by humans for efficient robot to human handovers

Abstract

Publication series

Conference

Keywords

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