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

Wei Yang, Chris Paxton, Maya Cakmak, Dieter Fox
2020 arXiv   pre-print
In this paper, we propose an approach for human-to-robot handovers in which the robot meets the human halfway, by classifying the human's grasp of the object and quickly planning a trajectory accordingly  ...  Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers.  ...  In this paper we propose to address the problem of perception for human-to-robot handovers by formulating it as a hand grasp classification problem.  ... 
arXiv:2003.06000v1 fatcat:bluw2n5whbbepctfnjsyckvr5q

Object Handovers: a Review for Robotics [article]

Valerio Ortenzi, Akansel Cosgun, Tommaso Pardi, Wesley Chan, Elizabeth Croft, Dana Kulic
2022 arXiv   pre-print
We compare the behaviours displayed during human-to-human handovers to the state of the art of robotic assistants, and identify the major areas of improvement for robotic assistants to reach performance  ...  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).  ...  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

Multimodal Sensory Learning for Real-time, Adaptive Manipulation [article]

Ahalya Prabhakar, Stanislas Furrer, Lorenzo Panchetti, Maxence Perret, Aude Billard
2021 arXiv   pre-print
The predictions are used in a developed reactive controller to adapt the grip on the object to compensate for the predicted inertial forces experienced during motion.  ...  While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion.  ...  Humans are skilled at integrating experienced sensory signals in order to efficiently construct a perceptual model Figure 1 : Robot Handover.  ... 
arXiv:2110.04634v1 fatcat:vxhsby4fqncq5gxc7eklhsuekm

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Afonso Castro, Filipe Silva, Vitor Santos
2021 Sensors  
Moreover, future challenges for a natural and intuitive collaboration are exposed: the machine must behave like a human especially in the pre-grasping/grasping phases and the handover procedure should  ...  Human-Robot Collaboration (HRC) emerges as an ideal concept of co-working between a human operator and a robot, representing one of the most significant subjects for human-life improvement.The ultimate  ...  Acknowledgments: This study has also the support of FCT-Foundation for Science and Technology, in the context of project UIDB/00127/2020.  ... 
doi:10.3390/s21124113 fatcat:yibzzyk2szebtotudb7cvsnex4

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.  ...  The human hand is capable of performing countless grasps and gestures that are the basis for social activities.  ...  Our classification rule might be translated into a control strategy to be implemented on robots for a more purposive grasping and for a more effective handover.  ... 
doi:10.1126/scirobotics.aau9757 pmid:33137738 fatcat:xtvzxrhiardwjhrtikngkfq5vy

Preemptive Motion Planning for Human-to-Robot Indirect Placement Handovers [article]

Andrew Choi, Mohammad Khalid Jawed, Jungseock Joo
2022 arXiv   pre-print
Human-to-robot handovers can take either of two approaches: (1) direct hand-to-hand or (2) indirect hand-to-placement-to-pick-up.  ...  The latter approach ensures minimal contact between the human and robot but can also result in increased idle time due to having to wait for the object to first be placed down on a surface.  ...  This requires accurate estimation of the transfer point [1] as well as grasp classification [2] .  ... 
arXiv:2203.00156v2 fatcat:ludiughxlbfnxp7462fowff5te

Adaptive Coordination Strategies for Human-Robot Handovers

Chien-Ming Huang, Maya Cakmak, Bilge Mutlu
2015 Robotics: Science and Systems XI  
Our findings offer insights into the tradeoffs involved in the use of these methods and inform the future design of handover interactions for robots.  ...  In this paper, we investigate how robots designed to engage in physical collaborations may achieve similar adaptivity in performing handovers.  ...  We would like to thank Brandi Hefty, Ethan Jesse, Christopher Ward, Jing Jing, and Catherine Steffel for their contributions.  ... 
doi:10.15607/rss.2015.xi.031 dblp:conf/rss/0001CM15 fatcat:jtluslg6j5axhibdzxynvz3kr4

Attention deep learning based model for predicting the 3D Human Body Pose using the Robot Human Handover Phases

Javier Laplaza, Albert Pumarola, Francesc Moreno-Noguer, Alberto Sanfeliu
2021 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)  
This work proposes a human motion prediction model for handover operations. We use in this work, the different phases of the handover operation to improve the human motion predictions.  ...  Our model outputs a distribution of possible positions rather than one deterministic position, a key feature in order to allow robots to collaborate with humans.  ...  Handover task Modeling uncertainity during human-robot operations has been attempted before. In [11] , Hoffman et al. compare anticipatory versus reactive agents.  ... 
doi:10.1109/ro-man50785.2021.9515402 fatcat:2lk7whg5hnegjna3gijasalbg4

Learning from humans how to grasp: a data-driven architecture for autonomous grasping with anthropomorphic soft hands

Cosimo Della Santina, Visar Arapi, Giuseppe Averta, Francesca Damiani, Gaia Fiore, Alessandro Settimi, Manuel Giuseppe Catalano, Davide Bacciu, Antonio Bicchi, Matteo Bianchi
2019 IEEE Robotics and Automation Letters  
However, their potential for autonomous grasping is still largely unexplored, due to the lack of suitable control strategies.  ...  To address this issue, in this letter, we propose an approach to enable soft hands to autonomously grasp objects, starting from the observations of human strategies.  ...  The IMUs placed on the fingers of the hand detect the contact with the items and triggers a suitable reactive grasp behavior. grasping of new items, in a human-robot handover scenario.  ... 
doi:10.1109/lra.2019.2896485 fatcat:zuvna3pbyzbx7oezzqkebevk64

Spatiotemporal Movement Planning and Rapid Adaptation for Manual Interaction

Markus Huber, Aleksandra Kupferberg, Claus Lenz, Alois Knoll, Thomas Brandt, Stefan Glasauer, Robert J. van Beers
2013 PLoS ONE  
We then replaced the human deliverer by different types of robots to further investigate the influence of the delivering movement on the reaction of the receiver.  ...  Modeling the task was based on the assumption that the receiver's decision to act is based on the accumulated evidence for a specific handover position.  ...  Rickert for help with programming the robots and M. Brandl for help with the experiments. Author Contributions  ... 
doi:10.1371/journal.pone.0064982 pmid:23724112 pmcid:PMC3665711 fatcat:7sbmgz53pzfr5pbuma223kjyyy

A dynamic neural field architecture for a pro-active assistant robot

Manuel Pinheiro, Estela Bicho, Wolfram Erlhagen
2010 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics  
We present a control architecture for non-verbal HRI that allows an assistant robot to have a pro-active and anticipatory behavior.  ...  outcome of the human motor behavior.  ...  In this situation the robot has two possible actions competing for expression in overt behavior, 'handover the bottle' to the human or 'request the glass' (panel C, (T 1 − T 2)).  ... 
doi:10.1109/biorob.2010.5627812 fatcat:bvl2f5nrgzb4zm4v2k4mjs4i4m

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications [article]

Stefan Escaida Navarro and Stephan Mühlbacher-Karrer and Hosam Alagi and Hubert Zangl and Keisuke Koyama and Björn Hein and Christian Duriez and Joshua R. Smith
2021 arXiv   pre-print
to support grasping and exploration.  ...  In this survey paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics.  ...  The authors would like to thank cartoonist Adriana Filippini for the illustrations.  ... 
arXiv:2108.07206v2 fatcat:75tipaaid5elli3od34jdvuxra

Probabilistic movement primitives for coordination of multiple human–robot collaborative tasks

Guilherme J. Maeda, Gerhard Neumann, Marco Ewerton, Rudolf Lioutikov, Oliver Kroemer, Jan Peters
2016 Autonomous Robots  
The method allows for both action recognition and human-robot movement coordination. It uses imitation learning to construct a mixture model of human-robot interaction primitives.  ...  We evaluated the method experimentally with a lightweight robot arm in a variety of assistive scenarios, including the coordinated handover of a bottle to a human, and the collaborative assembly of a toolbox  ...  Acknowledgements The research leading to these results has received funding from the European Community's Seventh Framework Programmes (FP7-ICT-2013-10) under grant agreement #610878 (3rdHand) and from  ... 
doi:10.1007/s10514-016-9556-2 fatcat:rbxq2mjwprhcndhn37rstsyvya

Neuro-cognitive mechanisms of decision making in joint action: A human–robot interaction study

Estela Bicho, Wolfram Erlhagen, Luis Louro, Eliana Costa e Silva
2011 Human Movement Science  
The dynamic model of joint action is evaluated in a task in which a robot and a human jointly construct a toy object.  ...  in humans.  ...  We also thank the anonymous reviewers for their insightful comments and feedback on how to improve the manuscript. A human-robot interaction study.  ... 
doi:10.1016/j.humov.2010.08.012 pmid:21208673 fatcat:eyrul4sj3fahvm6c5k7oyrgtn4

A socially assistive robot for people with motor impairments

M. Pinheiro, E. Bicho
2013 2013 IEEE 3rd Portuguese Meeting in Bioengineering (ENBENG)  
We present a control architecture for nonverbal HRI that allows an anthropomorphic assistant robot with a pro-active and anticipatory behaviour.  ...  of the human behaviour.  ...  ACKNOWLEDGMENT The authors would like to thank Eliana Silva, Emanuel Sousa, Flora Ferreira, João Ferreira, Joaquim Silva, Luís Louro, Nzoji Hipolito, Rui Silva, Tiago Malheiro and Toni Machado.  ... 
doi:10.1109/enbeng.2013.6518438 fatcat:wdw3chniz5etllk2ujzaiassfa
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