A human-inspired object handover controller

In this paper, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot’s handover behavior. The controller enables a robot to mimic human behavior by actively regulating the applied grip force a...

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Bibliographic Details
Published in:The International journal of robotics research 2013-07, Vol.32 (8), p.971-983
Main Authors: Chan, Wesley P, Parker, Chris AC, Van der Loos, HF Machiel, Croft, Elizabeth A
Format: Article
Language:English
Subjects:
Actuators
Behavior
Comparative analysis
Controllers
Feasibility
Garages
Grip force
Human behavior
Human-computer interaction
Robots
Sensors
Willow
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Summary:In this paper, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot’s handover behavior. The controller enables a robot to mimic human behavior by actively regulating the applied grip force according to the measured load force during a handover. We provide an implementation of the controller on a Willow Garage PR2 robot, demonstrating the feasibility of realizing our design on robots with basic sensor/actuator capabilities. A user study comparing four variations of our controller shows that our design yields both human-like and human-preferred object handovers.
ISSN:0278-3649
1741-3176
DOI:10.1177/0278364913488806