Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers

• URL: http://arxiv.org/abs/2402.14525v1
• Date: Thu, 22 Feb 2024 13:19:02 GMT
• Title: Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers
• Authors: Yasemin G\"oksu, Antonio De Almeida Correia, Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Jan Peters, Georgia Chalvatzaki
• Abstract summary: Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions.
• Score: 19.052211315080044
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human object handovers. We use a Hidden Semi-Markov Model (HSMM) to reactively generate suitable response trajectories for a robot based on the observed human partner's motion. The trajectories are adapted with task space constraints to ensure accurate handovers. Results from a pilot study show that our approach is perceived as more human--like compared to a baseline Inverse Kinematics approach.

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