On-the-go robot-to-human handovers with a mobile manipulator

Kerry He, Pradeepsundar Simini, Wesley P. Chan, Dana Kulic, Elizabeth Croft, Akansel Cosgun

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

8 Citations (Scopus)

Abstract

Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go"handovers which permit a moving mobile manipulator to hand over an object to a human without stopping. The on-the-go handover motion is generated with a reactive controller that allows simultaneous control of the base and the arm. In a user study, human receivers subjectively assessed on-the-go handovers to be more efficient, predictable, natural, better timed and safer than handovers that implemented a "stop-and-deliver"behavior.

Original languageEnglish
Title of host publicationRO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication
Subtitle of host publicationSocial, Asocial, and Antisocial Robots
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages729-734
Number of pages6
ISBN (Electronic)9781728188591
DOIs
Publication statusPublished - 2022
EventIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2022 - Napoli, Italy
Duration: 29 Aug 20222 Sept 2022
Conference number: 31st
http://www.ro-man2022.org/ (Website)
https://ieeexplore.ieee.org/xpl/conhome/9900506/proceeding (Proceedings)
https://web.archive.org/web/20221007214720/http://www.ro-man2022.org/ (Website (peer review note))

Publication series

NameRO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication: Social, Asocial, and Antisocial Robots

Conference

ConferenceIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2022
Abbreviated titleRO-MAN 2022
Country/TerritoryItaly
CityNapoli
Period29/08/222/09/22
Internet address

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