An analysis of the process of handing over an object and its application to robot motions

The interaction of humans and robots is a new problem. One strategy for generating smooth robot motions is to follow the interaction between humans. In this paper, we analyzed the process of handing over an object from one human to another and discussed the possible application of the obtained characteristics to the motions of a one-dimensional robot handing over an object to a human. First, the trajectories of the "hander" and "receiver," and the handing over point in the motion of passing an object from one human to another was analyzed. Second, we proposed an application of the obtained human characteristics for robot motion with regard to the velocity pattern and the handing over point. The effectiveness of the proposed applications was confirmed by the psychological evaluations.