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Model Predictive Control for Fluid Human-to-Robot Handovers [article]

Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
2022 arXiv   pre-print
In this paper, we propose to generate smooth motions via an efficient model-predictive control (MPC) framework that integrates perception and complex domain-specific constraints into the optimization problem  ...  Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration.  ...  MODEL PREDICTIVE CONTROL FOR GRASPING For human-to-robot handover, the robot needs to move to one of the grasp poses X g∈G , and then grasp the object from the human, as shown in Fig. 2 .  ... 
arXiv:2204.00134v1 fatcat:uj53brizovduffpytaa7gd6goa

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

Collaborative Behavior Models for Optimized Human-Robot Teamwork [article]

Adam Fishman, Chris Paxton, Wei Yang, Dieter Fox, Byron Boots, Nathan Ratliff
2020 arXiv   pre-print
We use human-robot handovers to demonstrate that with a strong model of the collaborator, our framework produces fluid, reactive human-robot interactions in novel, cluttered environments.  ...  In this work, we describe a novel Model Predictive Control (MPC)-based framework for finding optimal trajectories in a collaborative, multi-agent setting, in which we simultaneously plan for the robot  ...  We derive predictive models for each external, i.e., uncontrolled, agent and an optimal control objective for the controlled agent, i.e.the robot.  ... 
arXiv:1910.04339v2 fatcat:gg4qlehnwfc2nd2btsbzr5dtzu

Benchmark for Human-to-Robot Handovers of Unseen Containers with Unknown Filling

Ricardo Sanchez Matilla, Konstantinos Chatzilygeroudis, Apostolos Modas, Nuno Ferreira Duarte, Alessio Xompero, Pascal Frossard, Aude Billard, Andrea Cavallaro
2020 IEEE Robotics and Automation Letters  
The real-time estimation through vision of the physical properties of objects manipulated by humans is important to inform the control of robots for performing accurate and safe grasps of objects handed  ...  In this letter, we present a benchmark for dynamic human-to-robot handovers that do not rely on a motion capture system, markers, or prior knowledge of specific objects.  ...  Handovers Fluid and efficient human-to-robot handovers are the result of the combination of perception and control [10] .  ... 
doi:10.1109/lra.2020.2969200 fatcat:vlmhak3vlvahfct5pjgmurrkmu

Learning Dynamic Robot-to-Human Object Handover from Human Feedback [article]

Andras Kupcsik and David Hsu and Wee Sun Lee
2016 arXiv   pre-print
One challenge for the future is to combine the model-free learning algorithm with a model-based planning approach and enable the robot to adapt over human preferences and object characteristics, such as  ...  This paper presents a learning algorithm for dynamic object handover, for example, when a robot hands over water bottles to marathon runners passing by the water station.  ...  This research was supported in part an A*STAR Industrial Robotics Program grant (R-252-506-001-305) and a SMART Phase-2 Pilot grant (R-252-000-571-592).  ... 
arXiv:1603.06390v1 fatcat:u6p7smslx5ezphaed3kdwcbmry

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

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.  ...  We introduce a novel prediction-planning pipeline that allows the robot to preemptively move towards the human agent's intended placement location using gaze and gestures as model inputs.  ...  Similar to these works, we introduce a novel preemptive control method using data-driven intent prediction that is specifically catered towards human-to-robot object placement handovers.  ... 
arXiv:2203.00156v2 fatcat:ludiughxlbfnxp7462fowff5te

Human-Robot Handovers using Task-Space Quadratic Programming [article]

Mohamed Djeha, Antonin Dallard, Ahmed Zermane, Pierre Gergondet, Abderrahmane Kheddar
2022 arXiv   pre-print
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services.  ...  We propose a new approach for (i) and (ii) consisting in explicitly formulating the handover process as constraints in a task-space quadratic programming control framework to achieve implicit time and  ...  Our approach is to tackle the human-robot handover problem from a reactive closed-loop control perspective.  ... 
arXiv:2206.09185v1 fatcat:prrw3pxmlrc53hjmsjayk6dbqe

A Human-Inspired Control Strategy for Improving Seamless Robot-To-Human Handovers

Paramin Neranon, Tanapong Sutiphotinun
2021 Applied Sciences  
One of the challenging aspects of robotics research is to successfully establish a human-like behavioural control strategy for humanrobot handover, since a robotic controller is further complicated by  ...  This paper consequently highlights the development of an appropriate set of behaviour-based control for robot-to-human object handover by first understanding an equivalent humanhuman handover.  ...  in the human-to-robot handovers.  ... 
doi:10.3390/app11104437 fatcat:gp46f6n2cnczzdtjyzo5x7nhhy

A Human-Following Motion Planning and Control Scheme for Collaborative Robots Based on Human Motion Prediction

Fahad Iqbal Khawaja, Akira Kanazawa, Jun Kinugawa, Kazuhiro Kosuge
2021 Sensors  
A Model Predictive Control (MPC)-based trajectory planner is used to calculate a robot trajectory that supplies the required parts and tools to the worker and follows the predicted future positions of  ...  In this paper, we propose a human-following motion planning and control scheme for a collaborative robot which supplies the necessary parts and tools to a worker in an assembly process in a factory.  ...  Maeda et al. achieved a fluid human-robot handover by estimating the phase of human motion [28] .  ... 
doi:10.3390/s21248229 pmid:34960323 pmcid:PMC8706253 fatcat:yastb5uyvvc65oigshsr445kka

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.  ...  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  ...  CONCLUSIONS We described a system for enabling fluid human-robot handovers via classifying different types of grasp.  ... 
arXiv:2003.06000v1 fatcat:bluw2n5whbbepctfnjsyckvr5q

Handover Control for Human-Robot and Robot-Robot Collaboration

Marco Costanzo, Giuseppe De Maria, Ciro Natale
2021 Frontiers in Robotics and AI  
Use of a robot for passing objects is justified only if the handover operation is sufficiently intuitive for the involved humans, fluid and natural, with a speed comparable to that typical of a human-human  ...  The approach proposed in this paper strongly relies on visual and haptic perception combined with suitable algorithms for controlling both robot motion, to allow the robot to adapt to human behavior, and  ...  Other authors contributed equally to the rest of the paper and its writing by approving the final version of the manuscript.  ... 
doi:10.3389/frobt.2021.672995 pmid:34026858 pmcid:PMC8138472 fatcat:hc4zdcgbjfdsrioockvf7icgry

Phase Portraits as Movement Primitives for Fast Humanoid Robot Control [article]

Guilherme Maeda, Okan Koc, Jun Morimoto
2020 arXiv   pre-print
Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems.  ...  This natural sense to infer temporal dynamics and coordination motivates us to approach robot control from a motor skill learning perspective to design fast and computationally light controllers that can  ...  to handovers with a human, to footstep placing for walking.  ... 
arXiv:1912.03535v3 fatcat:wnwlhx7qgrbqrm5o6lvzv5i5qa

Design of Dynamics Invariant LSTM for Touch Based Human-UAV Interaction Detection [article]

Anees Peringal, Mohamad Chehadeh, Rana Azzam, Mahmoud Hamandi, Igor Boiko, Yahya Zweiri
2022 arXiv   pre-print
One particular human-UAV scenario of interest for this paper is the payload handover scheme, where a UAV hands over a payload to a human upon their request.  ...  Hence, bringing such platforms from closed labs, to day-to-day interactions with humans is important for commercialization of UAVs.  ...  Using these insights, a robot-to-human handover algorithm is proposed aimed at fluid handovers.  ... 
arXiv:2207.05403v1 fatcat:oo5rmv7f6bgvbfolt2zlqfvrna

Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects [article]

Tasbolat Taunyazov, Luar Shui Song, Eugene Lim, Hian Hian See, David Lee, Benjamin C.K. Tee, Harold Soh
2021 arXiv   pre-print
physical human-robot-interaction.  ...  Next, we show that vibro-tactile perception can lead to reasonable grasp stability prediction during object handover, and accurate food identification using a standard fork.  ...  ACKNOWLEDGEMENTS This work was supported by the SERC, A*STAR, Singapore, through the National Robotics Program under Grant No. W2025d0244. B.C.K.  ... 
arXiv:2106.00489v2 fatcat:g5ilhmnotnekjkvt45tlcb7bde
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