相关论文: Object Handovers: a Review for Robotics

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…

Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communication on where and when physical contact (object transfer)…

We introduce a new simulation benchmark "HandoverSim" for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasping of objects. We create training and evaluation…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

This work explores the effect of object weight on human motion and grip release during handovers to enhance the naturalness, safety, and efficiency of robot-human interactions. We introduce adaptive robotic strategies based on the analysis…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…

Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…

As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…

Human-robot collaboration (HRC) relies on accurate and timely recognition of human intentions to ensure seamless interactions. Among common HRC tasks, human-to-robot object handovers have been studied extensively for planning the robot's…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…