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.