相关论文: Comparing Subjective Perceptions of Robot-to-Human…
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…
This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…
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…
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,…
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…
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 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…
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…
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…
With more robots being deployed in the world, users will likely interact with multiple robots sequentially when receiving services. In this paper, we describe an exploratory field study in which unsuspecting participants experienced a…
This paper presents a novel learning-based approach to dynamic robot-to-human handover, addressing the challenges of delivering objects to a moving receiver. We hypothesize that dynamic handover, where the robot adjusts to the receiver's…
The Minimum Jerk motion model has long been cited in literature for human point-to-point reaching motions in single-person tasks. While it has been demonstrated that applying minimum-jerk-like trajectories to robot reaching motions in the…
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…
Human-human joint-action in short-cycle repetitive handover tasks was investigated for a bottle handover task using a three-fold approach: work-methods field studies in multiple supermarkets, simulation analysis using an ergonomics software…
This study investigates the subjective experiences of users in two robotic object delivery methods: direct handover and table placement, when users are occupied with another task. A user study involving 15 participants engaged in a typing…
Safety in human-robot interaction can be divided into physical safety and perceived safety, where the latter is still under-addressed in the literature. Investigating perceived safety in human-robot interaction requires a multidisciplinary…
We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of four modules. The first module is a data collection module that…
To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an…
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…
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…