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On-The-Go Robot-to-Human Handovers with a Mobile Manipulator

conference contribution
posted on 2023-09-22, 04:47 authored by K He, P Simini, WP Chan, D Kulic, E Croft, Akan CosgunAkan Cosgun
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 moving mobile manipulator to hand over an object to a human without stopping. The on-the-go handover motion is generated with a reactive controller that allows simultaneous control of the base and the arm. In a user study, human receivers subjectively assessed on-the-go handovers to be more efficient, predictable, natural, better timed and safer than handovers that implemented a "stop-and-deliver"behavior.

History

Volume

00

Pagination

729-734

Location

Napoli, Italy

Start date

2022-08-29

End date

2022-09-02

ISBN-13

9781728188591

Language

English

Publication classification

E1.1 Full written paper - refereed

Title of proceedings

RO-MAN 2022 Proceedings of the 31st IEEE International Conference on Robot and Human Interactive Communication: Social, Asocial, and Antisocial Robots

Event

Robot and Human Interactive Communication. Conference (2022 : 31st : Napoli, Italy)

Publisher

IEEE

Place of publication

Piscataway, N.J.