Creating socially acceptable robots: Leaning grasp configurations for object handovers from demonstrations

Wesley P. Chan, Iori Kumagai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)

Abstract

Object handover is a basic task that is found in many human-robot cooperation scenarios. If we are to build socially acceptable robots, we need to enable robots to perform handovers properly. In this paper, we discuss some of the social implications of proper robot-human handovers, and we focus on the challenge of determining a proper grasp configuration when handing over an object. We propose a framework that enables a robot to learn proper grasp configurations for handovers through observations. Our aim is to eliminate the need for manually specifying grasp configurations information to the robot, and allow generalization of handover grasp configurations for known objects to unknown objects. We are currently implementing our proposed framework onto an HRP4R robot, and we discuss about our plans for conducting user studies to evaluate our system upon its completion.

Original languageEnglish
Title of host publication2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages94-99
Number of pages6
ISBN (Print)9781479923694
DOIs
Publication statusPublished - 1 Dec 2013
Event2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Tokyo, Japan
Duration: 7 Nov 20139 Nov 2013

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Conference

Conference2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013
CountryJapan
CityTokyo
Period7/11/139/11/13

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