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 language | English |
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Title of host publication | RO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication |
Subtitle of host publication | Social, Asocial, and Antisocial Robots |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 729-734 |
Number of pages | 6 |
ISBN (Electronic) | 9781728188591 |
DOIs | |
Publication status | Published - 2022 |
Event | IEEE/RSJ International Symposium on Robot and Human Interactive Communication 2022 - Napoli, Italy Duration: 29 Aug 2022 → 2 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
Name | RO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication: Social, Asocial, and Antisocial Robots |
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Conference
Conference | IEEE/RSJ International Symposium on Robot and Human Interactive Communication 2022 |
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Abbreviated title | RO-MAN 2022 |
Country/Territory | Italy |
City | Napoli |
Period | 29/08/22 → 2/09/22 |
Internet address |
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