Coupling of Arm Movements during Human-Robot Interaction: the handover case
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)(2019)
摘要
Collaboration involves understanding the action of others, as well as acting in a way that can be understood by others. One of those tasks is the handover. In this paper, we study the behaviour of humans during the handover and design the mechanisms allowing a robot to learn from that behaviour.We analyse and model the arm movements of humans while handing over objects to one another. The contributions of this paper are the following: (i) a computational model that captures the behaviour of the “giver” and “receiver” of the object, by coupling the arm motion; (ii) discuss this approach amidst a previous coupling strategy; and (iii) embedded the model in the iCub robot for human to robot handovers.Our results show that: (i) the robot can coordinate with the human to timely and safely receive the object; (ii) the robot behaves in a “human-like” manner while receiving the object; and (iii) our approach has significant advantages to the previous approach.
更多查看译文
关键词
human-like manner,robot handovers,iCub robot,coupling strategy,arm motion,computational model,arm movements,handover case,human-robot interaction
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络