NDLI: Creating socially acceptable robots: Leaning grasp configurations for object handovers from demonstrations

Content Provider	IEEE Xplore Digital Library
Author	Chan, W.P. Kumagai, I. Nozawa, S. Kakiuchi, Y. Okada, K. Inaba, M.
Copyright Year	2013
Description	Author affiliation: Dept. of Inf. Sci. & Technol., Univ. of Tokyo, Tokyo, Japan (Chan, W.P.; Kumagai, I.; Nozawa, S.; Kakiuchi, Y.; Okada, K.; Inaba, M.)
Abstract	Object handover is a basic task that is found in many human-robot cooperation scenarios. If we are to build socially acceptable robots, we need to enable robots to perform handovers properly. In this paper, we discuss some of the social implications of proper robot-human handovers, and we focus on the challenge of determining a proper grasp configuration when handing over an object. We propose a framework that enables a robot to learn proper grasp configurations for handovers through observations. Our aim is to eliminate the need for manually specifying grasp configurations information to the robot, and allow generalization of handover grasp configurations for known objects to unknown objects. We are currently implementing our proposed framework onto an HRP4R robot, and we discuss about our plans for conducting user studies to evaluate our system upon its completion.
Starting Page	94
Ending Page	99
File Size	638267
Page Count	6
File Format	PDF
ISBN	9781479923687
DOI	10.1109/ARSO.2013.6705512
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-07
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Receivers Grasping Handover Safety Trajectory Robots
Content Type	Text
Resource Type	Article

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