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Towards Robot-Human Reliable Hand-over: Continuous Detection of Object Perturbation Force Direction

Gomez, Augusto, Rano, Ignacio, Coleman, SA and McGinnity, T.Martin (2017) Towards Robot-Human Reliable Hand-over: Continuous Detection of Object Perturbation Force Direction. In: IEEE International Symposium on Robot and Human Interactive Communication, Lisbon, Portugal. IEEE. 7 pp. [Conference contribution]

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Abstract

A fundamental aspect of many human-robot col- laborative tasks is object exchange or handover. Several tech- niques have been proposed to decide when a robot hand or gripper should release an object for a human to receive. However, these techniques typically neglect the reliability of the handover, assuming the process will occur without issue. Based on the fact that humans apply pulling forces in specific directions when receiving an object, this paper presents a recursive procedure enabling a robot to release an object appropriately and timely during a handover. Experiments with naive users showed subject-specific consistent pulling directions during robot-human handovers, highlighting the need for a system to be capable of detecting force directions in relation to objects. The approach reported in this paper shows that through tactile sensing the proposed approach can accurately classify between five different actions impacting an object held by a robot hand. The recursive nature of the system also enables detection of sequences of different actions, enabling the robot to decide to safely release the object only when the pulling performed by the human is in the right direction.

Item Type:Conference contribution (Paper)
Keywords:hand-overs, grasping, robotics
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute > Intelligent Systems Research Centre
Computer Science Research Institute
ID Code:38415
Deposited By: Dr Sonya Coleman
Deposited On:04 Aug 2017 08:27
Last Modified:01 Sep 2018 22:23

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