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Handover Control for Human-Robot and Robot-Robot Collaboration.

Marco Costanzo1, Giuseppe De Maria1, Ciro Natale1

  • 1Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Aversa, Italy.

Frontiers in Robotics and AI
|May 24, 2021
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Summary
This summary is machine-generated.

This study presents a novel approach for intuitive and safe robot object handover, crucial for human-robot collaboration. The method combines visual and haptic feedback for fluid, human-like exchanges in unstructured environments.

Keywords:
cooperative robotshuman-robot collaborationobject handoverrobotic manipulationtactile sensing

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Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Artificial Intelligence

Background:

  • Modern robotics increasingly involves human-robot collaboration and robot-robot cooperation in unstructured settings.
  • Tasks like shelf-refilling in retail or object retrieval for the elderly highlight the need for robots to assist humans.
  • Automated logistics require efficient pick-and-place tasks, often improved by robot-robot object exchange.

Purpose of the Study:

  • To develop a robot object handover system that is intuitive, fluid, and natural for human interaction.
  • To enable robots to adapt to human behavior and ensure safe object transfer during collaboration.
  • To achieve handover speeds comparable to human-human exchanges.

Main Methods:

  • Integration of visual and haptic perception for robot control.
  • Development of algorithms for adaptive robot motion and controlled grip force.
  • Implementation of a control strategy combining model-based reactive control with an event-driven state machine.
  • Utilizing human-inspired behaviors for handover tasks without explicit learning from demonstration.

Main Results:

  • Experiments demonstrated successful handover operations in a supermarket-like environment.
  • Robots adapted to human behavior, ensuring safe and efficient object exchange.
  • Haptic cues proved essential for accomplishing collaborative handover tasks.

Conclusions:

  • The proposed approach enables robots to perform intuitive and safe object handovers.
  • Force/tactile feedback is critical for successful human-robot collaborative tasks.
  • This method facilitates seamless integration of robots into human-centric environments.