A Human-Aware Manipulation Planner

Sisbot, Emrah Akin; Alami, Rachid

doi:10.1109/tro.2012.2196303

Cited by 124 publications

(78 citation statements)

References 27 publications

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“…For this, (Sisbot & Alami, 2012) developed a manipulation planning framework that chooses handover locations based the human's safety, accessibility, field of view, posture, and preferences. A handover motion controller that adapts to unexpected arm movements of a simulated human is presented in (Agah & Tanie, 1997).…”

Section: Handover Behaviors For Robotsmentioning

confidence: 99%

Towards Seamless Human-Robot Handovers

Strabala

Lee

Dragan

et al. 2013

JHRI

220

147

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A handover is a complex collaboration, where actors coordinate in time and space to transfer control of an object. This coordination comprises two processes: the physical process of moving to get close enough to transfer the object, and the cognitive process of exchanging information to guide the transfer. Despite this complexity, we humans are capable of performing handovers seamlessly in a wide variety of situations, even when unexpected. This suggests a common procedure that guides all handover interactions. Our goal is to codify that procedure. To that end, we first study how people hand objects to each other in order to understand their coordination process and the signals and cues that they use and observe with their partners. Based on these studies, we propose a coordination structure for human-robot handovers that considers the physical and social-cognitive aspects of the interaction separately. This handover structure describes how people approach, reach out their hands, and transfer objects while simultaneously coordinating the what, when, and where of handovers: to agree that the handover will happen (and with what object), to establish the timing of the handover, and to decide the configuration at which the handover will occur. We experimentally evaluate human-robot handover behaviors that exploit this structure, and offer design implications for seamless human-robot handover interactions.

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Section: Handover Behaviors For Robotsmentioning

confidence: 99%

Towards Seamless Human-Robot Handovers

Strabala

Lee

Dragan

et al. 2013

JHRI

220

147

View full text Add to dashboard Cite

show abstract

“…Similarly, our idea is to find an optimal human body posture to solve a task considering three important aspects of the interaction that are safety, acceptability and task constraints. Those three factors were chosen according to their importance in the existing literature and are very similar to previous researches in the human-robot interaction field [8], [20]. Our hypotheses, verified in this work, is that the user will intuitively behave similarly to the predictions made by our algorithm.…”

Section: Introductionmentioning

confidence: 81%

“…Closer to our work is the research of Sisbot et al [4], [19], [20] and the recent works from Bestick et al [9] and Suay et al [22]. With the exception of [22], the cost function we have chosen to respresent the human factor is more biologically grounded and taken directly from the ergonomic field.…”

Section: Introductionmentioning

confidence: 99%

Postural optimization for an ergonomic human-robot interaction

Busch

Maeda

Mollard

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In human-robot collaboration the robot's behavior impacts the worker's safety, comfort and acceptance of the robotic system. In this paper we address the problem of how to improve the worker's posture during human-robot collaboration. Using postural assessment techniques, and a personalized human kinematic model, we optimize the model body posture to fulfill a task while avoiding uncomfortable or unsafe postures. We then derive a robotic behavior that leads the worker towards that improved posture. We validate our approach in an experiment involving a joint task with 39 human subjects and a Baxter torso-humanoid robot.

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“…Based on the expression of the dynamics of p, as given by (10) or, equivalently, (11), the momentum observer dynamics is defined aṡ…”

Section: E Estimation Of τ Ext Via Momentum Observermentioning

confidence: 99%

Robot Collisions: A Survey on Detection, Isolation, and Identification

2017

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Abstract-Robot assistants and professional co-workers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for realtime collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human-robot interaction or manipulation tasks. The problem is addressed for rigid robots first, and then extended to the presence of joint/transmission flexibility. The basic, physically-motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.

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A Human-Aware Manipulation Planner

Cited by 124 publications

References 27 publications

Towards Seamless Human-Robot Handovers

Towards Seamless Human-Robot Handovers

Postural optimization for an ergonomic human-robot interaction

Robot Collisions: A Survey on Detection, Isolation, and Identification

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