Abstract
As humanoids work alongside people, there will be many situations where they need to handover objects to people. If humanoids are to fulfill their purpose effectively, it is imperative that they perform handovers properly. When handing over an object, the giver needs to determine where to grasp and how to orient the object properly in order to ensure a safe and efficient handover. We propose and implement a framework for automatically learning handover grasp points and orientations - which we refer to collectively as the handover grasp configuration - by observing how people hand over the objects to the robot. We achieve this using a skeleton tracker and a particle filter based object tracker. Our system requires no additional external cameras, or any markers on the person or the object. As far as we know, this is the first system that offers such capabilities for learning handover grasp configurations. An implementation on an HRP2V robot and an experiment with three different objects verified that our framework is capable of extracting and learning grasp configurations from handover demonstrations, and subsequently using the learned grasp configurations to handover the objects.
Original language | English |
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Title of host publication | 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015) |
Editors | Frank Chongwoo Park |
Place of Publication | Piscataway NJ USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 1115-1120 |
Number of pages | 6 |
ISBN (Electronic) | 9781479968855, 9781479968848 |
ISBN (Print) | 9781479968862 |
DOIs | |
Publication status | Published - 28 Dec 2015 |
Externally published | Yes |
Event | IEEE-RAS International Conference on Humanoid Robots 2015 - Seoul, Korea, South Duration: 3 Nov 2015 → 5 Nov 2015 Conference number: 15th |
Publication series
Name | IEEE-RAS International Conference on Humanoid Robots |
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Publisher | IEEE, Institute of Electrical and Electronics Engineers |
ISSN (Print) | 2164-0572 |
ISSN (Electronic) | 2164-0580 |
Conference
Conference | IEEE-RAS International Conference on Humanoid Robots 2015 |
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Abbreviated title | Humanoids 2015 |
Country/Territory | Korea, South |
City | Seoul |
Period | 3/11/15 → 5/11/15 |
Keywords
- Handover
- Receivers
- Robot kinematics
- Three-dimensional displays
- Tracking