A human-inspired object handover controller
A human-inspired object handover controller
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DOI：
10.1177/0278364913488806
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发表时间：
2013-07-01
影响因子：
9.2
通讯作者：
Croft, Elizabeth A.
中科院分区：
文献类型：
--
作者：
Chan, Wesley P.;Parker, Chris A. C.;Croft, Elizabeth A.
在本文中，我们提出了一种新的控制器，安全，高效，直观的机器人到人的对象交接和一组实验来评估用户的反应，机器人的交接行为。控制器使机器人能够通过在交接期间根据所测量的负载力主动调节所施加的抓握力来模仿人类行为。我们提供了一个杨柳车库PR 2机器人上的控制器的实现，证明了我们的设计与基本的传感器/执行器功能的机器人上实现的可行性。一项用户研究比较了我们的控制器的四种变体，结果表明我们的设计既能产生类人对象，又能产生人类偏好的对象。
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.