By Topic

Comfortable robot to human object hand-over

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Aleotti, J. ; Dipt. di Ing. dell''Inf., Univ. of Parma, Parma, Italy ; Micelli, V. ; Caselli, S.

A method for robot to human object hand-over is presented that takes into account user comfort. Comfort is addressed by serving the object to facilitate user's convenience. The object is delivered so that the most appropriate part is oriented towards the person interacting with the robot. This approach, aimed at contributing to the development of socially aware robots, has not been considered in previous works. The robot system also supports sensory-motor skills like object and people detection, robot grasping and motion planning. The experimental setup consists of a six degrees of freedom robot arm with both an eye-in-hand laser scanner and a fixed range sensor. The user interacting with the robot can assume an arbitrary position in front of the robot. Experiments are reported from a user study.

Published in:


Date of Conference:

9-13 Sept. 2012