Implementation of a robot-human object handover controller on a compliant underactuated hand using joint position error measurements for grip force and load force estimations

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

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

1 Citation (Scopus)

Abstract

Object handover is a basic task in many human-robot interactive scenarios and therefore, it is important for assistive robots to be able to perform proper handovers. We previously designed a human-inspired grip-force-varying handover controller for a robot giver and showed on a Willow Garage PR2 robot that the controller yields human-like and human-preferred handovers. The PR2 robot had a non-compliant fully-actuated gripper. However, recently, compliant underactuated grippers have been gaining more popularity. Although compliant underactuated grippers can provide more flexibility in manipulation, it is generally difficult to accurately measure and control the amount of applied grip force. In this paper, we present an implementation of the human-inspired handover controller on a Kawada Industries HRP4R robot, which has compliant underactuated hands, using joint position error measurement for estimating the amount of applied grip force. Through an experiment, we show that we are able to achieve safe, smooth, and intuitive robot-human handovers despite the lack of accurate grip force control on our robot.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation
EditorsWilliam R. Hamel
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1190-1195
Number of pages6
Volume2
ISBN (Electronic)9781479936854
ISBN (Print)9781479936861
DOIs
Publication statusPublished - 29 Sep 2014
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2014 - Hong Kong Convention and Exhibition Center, Hong Kong, China
Duration: 31 May 20147 Jun 2014
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/6895053/proceeding
http://www6.cityu.edu.hk/icra2014/index.htm

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

ConferenceIEEE International Conference on Robotics and Automation 2014
Abbreviated titleICRA 2014
CountryChina
CityHong Kong
Period31/05/147/06/14
Internet address

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