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

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...

Full description

Saved in:
Bibliographic Details
Main Authors: He, Kerry, Simini, Pradeepsundar, Chan, Wesley P., Kulic, Dana, Croft, Elizabeth, Cosgun, Akansel
Format: Conference Proceeding
Language:English
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1944-9437
DOI:10.1109/RO-MAN53752.2022.9900642