Three Handover Methods in Esteem Etiquettes Using Dual Arms and Hands of Home-Service Robot
نویسندگان
چکیده
For home-service robots one of the most common interactions with humans is the handing over of objects using arms and hands of anthropomorphic robots. We propose advanced methods of determination of grasp sites for handover operations that incorporate especially etiquettes which factors include object shapes, object functions, and safety. We also address different operations for handover: one-handed handover with one grasp, two-step handover with midair re-grasp, and two-handed handover. We show the effectiveness of our algorithm for interaction between humans and robots with graphical simulations.
منابع مشابه
Vision Guided Homing for Humanoid Service Robot
Human beings can easily use eyes to guide arms and hands to reach any particular pose. We have been trying to make robot imitate such intelligent behavior that is called as robotic hand-eye coordination. In this paper we report our research work on vision guided homing for humanoid service robot JINGANG which has active stereo vision and two modular arms. The work is based on the 3D vision reco...
متن کاملThe Effect of Base Position on Maximum Allowable Load of Dual Arm Robots
A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...
متن کاملWireless Remote Control of Robot Dual Arms and Hands Using Inertial Measurement Units for Learning from Demonstration
This paper proposes real time wireless remote control of robot dual arms and hands using IMUs (Inertial measurement unit). The remote control system is developed for robots to learn various complex tasks from operator’s demonstration. The control system helps robots to make human-like motion planning directly through operator’s demonstration rather than the RRT (Rapidly-Exploring Random Tree) a...
متن کاملHuman-Manipulator Interface Using Hybrid Sensors via CMAC for Dual Robots
This paper presents a novel method that allows a human operator to communicate his motion to dual robot manipulators by performing his double handarms movements, which would naturally carry out an object manipulation task. The proposed method uses hybrid sensors to obtain the position and orientation of the human hands. Although the position and the orientation of the human hands can be obtaine...
متن کاملVision-Integrated Physiotherapy Service Robot Using Cooperating Two Arms
This study present the mechanical architecture, control system and other modules of a physiotherapy service robot which can treat degenerative disease and chronic disease of middle-aged and aged people by Chinese massage skill. The main body of the robot includes a massage adjustable bed, two 4-DOF robot arms and two massage hands that can accomplish various massage manipulations. Two arms coop...
متن کامل