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Affordance-Aware Handovers with Human Arm Mobility Constraints [article]

Paola Ardón, Maria E. Cabrera, Èric Pairet, Ronald P. A. Petrick, Subramanian Ramamoorthy, Katrin S. Lohan, Maya Cakmak
2021 arXiv   pre-print
We propose a method that generalises handover behaviours to previously unseen objects, subject to the constraint of a user's arm mobility levels and the task context.  ...  Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities.  ...  HANDOVER OPTIMISATION WITH MOBILITY CONSTRAINTS We propose a robot-to-human handover method that adapts object configurations to people with different arm mobility.  ... 
arXiv:2010.15436v2 fatcat:6fqr6eaubneptetfmeqlgx22cu

Natural interaction for object hand-over

Mamoun Gharbi, Severin Lemaignan, Jim Mainprice, Rachid Alami
2013 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI)  
Natural because we aim at unconstrained spoken English mixed with gestures and perspective taking to communicate with the robot ; legible because we apply human-aware motion planning algorithms that ensure  ...  Execution Controller Actuation Head, Grippers, Arms, Wheels Sensorimotor layer world model and agents beliefs Human-aware Motion and Manipulation Planning Dialogue processing Events natural  ... 
doi:10.1109/hri.2013.6483617 fatcat:wgymqgtl4bfsfh3wfk2yzj2rxe

Object Handovers: a Review for Robotics [article]

Valerio Ortenzi, Akansel Cosgun, Tommaso Pardi, Wesley Chan, Elizabeth Croft, Dana Kulic
2022 arXiv   pre-print
We focus our analysis on the two actors (giver and receiver) and report the state of the art of robotic givers (robot-to-human handovers) and the robotic receivers (human-to-robot handovers).  ...  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 authors want to thank: Peter Corke for his invaluable feedback; Alessandro De Luca for the good advice about safety in physical human-robot interaction; Marco Controzzi for the discussion on the role  ... 
arXiv:2007.12952v2 fatcat:tko7plapu5dedin7eq64j7avcu

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real World Scenarios

Tamim Asfour, Mirko Waechter, Lukas Kaul, Samuel Rader, Pascal Weiner, Simon Ottenhaus, Raphael Grimm, You Zhou, Markus Grotz, Fabian Paus
2019 IEEE robotics & automation magazine  
Special thanks to Michael Suppa from Roboception for providing us with one of the earliest ARMAR-6 sensors.  ...  with humans.  ...  Dual-Arm System With 16 Torque-Controlled DoF Inspired by human kinematics, each arm has 8 DoF, including a clavicle joint of the inner shoulder [19] .  ... 
doi:10.1109/mra.2019.2941246 fatcat:ndygpqq7yfcz7dzwzlm7lgqrcu

On the choice of grasp type and location when handing over an object

F. Cini, V. Ortenzi, P. Corke, M. Controzzi
2019 Science Robotics  
Successful robotic grasping is important if robots are to help humans with tasks.  ...  Our findings suggest that, in this scenario, human passers favor precision grasps during such handovers.  ...  Five major factors influence a grasp choice (3, 4) : object constraints (e.g., shape, size, and function), task constraints (e.g., force and mobility), gripper constraints (e.g., the human hand or gripper  ... 
doi:10.1126/scirobotics.aau9757 pmid:33137738 fatcat:xtvzxrhiardwjhrtikngkfq5vy

Adaptive Coordination Strategies for Human-Robot Handovers

Chien-Ming Huang, Maya Cakmak, Bilge Mutlu
2015 Robotics: Science and Systems XI  
In such interactions, humans naturally monitor the pace and workload of their partners and adapt their handovers accordingly.  ...  Handovers of objects are critical interactions that frequently arise in physical collaborations.  ...  constraints [19] that facilitate human-robot handovers.  ... 
doi:10.15607/rss.2015.xi.031 dblp:conf/rss/0001CM15 fatcat:jtluslg6j5axhibdzxynvz3kr4

Implementation and experimental validation of Dynamic Movement Primitives for object handover

Miguel Prada, Anthony Remazeilles, Ansgar Koene, Satoshi Endo
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The control law was deployed on a Kuka Light-Weight Arm equipped with the Azzurra anthropomorphic hand.  ...  Our control law defines the trajectory of the robotic arm towards a previously unknown handover location based on the Dynamic Movement Primitives formalism adapted for human robot object handover.  ...  In [2] cost functions are defined to maximize the comfort of the handover, considering both the mobile base positioning and the arm configuration.  ... 
doi:10.1109/iros.2014.6942851 dblp:conf/iros/PradaRKE14 fatcat:vmizek6ijrfmjhek26zyudookm

Human Grasp Classification for Reactive Human-to-Robot Handovers [article]

Wei Yang, Chris Paxton, Maya Cakmak, Dieter Fox
2020 arXiv   pre-print
Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers.  ...  Further, work on the equally critical human-to-robot handovers often assumes humans can place the object in the robot's gripper.  ...  This approach is not feasible in scenarios where the human needs to pay attention to their task at hand, such as performing a surgery, or where the human has limited mobility and arm movement due to an  ... 
arXiv:2003.06000v1 fatcat:bluw2n5whbbepctfnjsyckvr5q

CAGE: Context-Aware Grasping Engine [article]

Weiyu Liu, Angel Daruna, Sonia Chernova
2020 arXiv   pre-print
We introduce the Context-Aware Grasping Engine, which combines a novel semantic representation of grasp contexts with a neural network structure based on the Wide & Deep model, capable of capturing complex  ...  In order for robots to effectively perform object manipulation, a broad sense of contexts, including object and task constraints, needs to be accounted for.  ...  A grasp choice should also be based on a broader sense of context, such as object constraints (e.g., shape, material, and function) and task constraints (e.g., force and mobility) [6] .  ... 
arXiv:1909.11142v3 fatcat:7rzvegkvqjha5pht5usvmqerri

Designing Interaction for Multi-agent Cooperative System in an Office Environment [article]

Chao Wang, Stephan Hasler, Manuel Muehlig, Frank Joublin, Antonello Ceravola, Joerg Deigmoeller, Lydia Fischer
2020 arXiv   pre-print
Future intelligent system will involve very various types of artificial agents, such as mobile robots, smart home infrastructure or personal devices, which share data and collaborate with each other to  ...  Using multi-model interaction methods, e.g. graphical interfaces, speech interaction, gestures and facial expressions, ICPS is able to receive inputs from users through different entities, keep users aware  ...  As will be explained later in this work, humans are not seen as uncontrollable constraints, but instead, their capabilities are taken into account and the system might opt to ask the human for help.  ... 
arXiv:2002.06417v1 fatcat:pq4ndkuivfhzjglbnbybybttva

Optical Wireless Hybrid Networks: Trends, Opportunities, Challenges, and Research Directions

Mostafa Zaman Chowdhury, Moh Khalid Hasan, Md. Shahjalal, Md. Tanvir Hossan, Yeong Min Jang
2020 IEEE Communications Surveys and Tutorials  
to human eyes.  ...  [46] proposed a multi-armed bandit model for selecting optical access network.  ... 
doi:10.1109/comst.2020.2966855 fatcat:qgkoolfncjbm3cqwj7a3b7kr2i

A Mass-Produced Sociable Humanoid Robot: Pepper: The First Machine of Its Kind

Amit Kumar Pandey, Rodolphe Gelin
2018 IEEE robotics & automation magazine  
These robots are increasingly being deployed to assist humans in many different ways.  ...  The Pepper robot, developed by SoftBank Robotics, is one such robot created with the goal of achieving this vision.  ...  However, the fact that it is equipped with two arms, each with a five-fingered hand, and thanks to its appropriate height, the robot can be used to achieve some basic object handover and tabletop manipulation  ... 
doi:10.1109/mra.2018.2833157 fatcat:dppp4yvxircdpgjijtijhxsw3y

Fieldwork for requirements: Frameworks for mobile healthcare applications

G. Doherty, J. McKnight, S. Luz
2010 International Journal of Human-Computer Studies  
In this paper we consider this issue in the context of development of mobile healthcare applications.  ...  As with temporal rhythms, context aware systems could also take advantage of knowledge of current activities in order to provide appropriate information and affordances, as well as support for interruption  ...  of tasks required for shift handover).  ... 
doi:10.1016/j.ijhcs.2010.06.005 fatcat:faoacsehovejrjznxd62txpltq

Table of Contents

2021 IEEE Robotics and Automation Letters  
Fox 3128 Affordance-Aware Handovers With Human Arm Mobility Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Chernova 1128 Human-Aware Robot Task Planning Based on a Hierarchical Task Model . . . . . . . . . . Y. Cheng, L. Sun, and M.  ... 
doi:10.1109/lra.2021.3072707 fatcat:qyphyzqxfrgg7dxdol4qamrdqu

SDN Enhanced Resource Orchestration for Industrial IoT in Containerized Edge Applications

Jude Okwuibe, Juuso Haavisto, Erkki Harjula, Ijaz Ahmad, Mika Ylianttila
2020 IEEE Access  
With these changes, the MNOs are offered with ever more affordable means of innovation in offering site-specific services accessible on UEs.  ...  The Jetson's hardware architecture is based on ARM; thus, the hardware is similar to those of mobile phones. We measured the Jetson drawing 2.1 watts on idle and 6.5 watts while encoding video.  ... 
doi:10.1109/access.2020.3045563 fatcat:z4i4oczccrdczb5cdw4viau7re
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