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Object Handovers: A Review for Robotics

journal contribution
posted on 2022-09-29, 06:44 authored by V Ortenzi, Akan CosgunAkan Cosgun, T Pardi, Wesley ChanWesley Chan, E Croft, D Kulic
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 contacts the object held by the giver and ends when the giver fully releases the object to the receiver. However, important cognitive and physical processes begin before the physical exchange, including initiating implicit agreement with respect to the location and timing of the exchange. From this perspective, we structure our review into the two main phases delimited by the aforementioned events: a prehandover phase and the physical exchange. 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). We report a comprehensive list of qualitative and quantitative metrics commonly used to assess the interaction. While focusing our review on the cognitive level (e.g., prediction, perception, motion planning, and learning) and the physical level (e.g., motion, grasping, and grip release) of the handover, we also discuss safety. We compare the behaviors 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 comparable to human interactions. Finally, we propose a minimal set of metrics that should be used in order to enable a fair comparison among the approaches.

History

Journal

IEEE Transactions on Robotics

Volume

37

Issue

6

Pagination

1855 - 1873

ISSN

1552-3098

eISSN

1941-0468

Publication classification

C1 Refereed article in a scholarly journal

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