Handover

Human-to-robot object handovers


  • Approaching phase: Learning by Demonstration using Dynamical Systems with Gaussian Mixture Models [1].
  • Object load transfer phase: Stable grasping controller with object weight estimation [2], [3], [4].
  • Implementation on a KUKA LWR+ arm and a Barrett Hand.
Simulation (in V-REP) and experiments of an object handover.

Video

References

  1. AURO
    A human inspired handover policy using Gaussian Mixture Models and haptic cues
    Antonis Sidiropoulos, Efi Psomopoulou, and Zoe Doulgeri
    Autonomous Robots, Aug 2019
  2. A human inspired stable object load transfer for robots in hand-over tasks
    Efi Psomopoulou, and Zoe Doulgeri
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015
  3. RSS
    Human-inspired object load transfer in hand-over tasks
    Efi Psomopoulou, and Zoe Doulgeri
    In Robotics: Science and Systems Conference, Sep 2015
  4. MED
    A robot hand-over control scheme for human-like haptic interaction
    Efi Psomopoulou, and Zoe Doulgeri
    In 22nd Mediterranean Conference on Control and Automation, Jun 2014