Paper Info
Title
Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand
Abstract
A fundamental problem in cooperative HumanRobot Interaction is object handover. Existing works in this area assume the human can reliably grasp the object from the robot hand. However, in some situations the human can produce perturbing forces in the object that are not meant to end in a handover. These perturbations can result in the object being dropped or the robot hand being damaged. This paper addresses this problem and presents a mechanism for reliable robot to human object handover implemented in a Shadow Robot hand endowed with tactile sensing. Given a stable grasping configuration, using BioTAC sensors we are able to estimate the contact forces applied to the object, and provide a feedback signal to a joint effort controller to maintain grasp forces despite perturbations. Our system is able to identify between object pulling forces which should result in an object handover, and other disturbances. Experimental results show that the hand releases the object only when the object is pulled, validating the proposed algorithm.
Year
DOI
Venue
2017
10.1109/ICRA.2017.7989048
2017 IEEE International Conference on Robotics and Automation (ICRA)
Keywords
Field
DocType
reliable object handover,tactile force sensing,shadow robot hand,effort control,HumanRobot Interaction,reliable robot mechanism,human object handover,tactile sensing,BioTAC sensors,feedback signal
Computer vision,Shadow,Control theory,GRASP,Contact force,Artificial intelligence,Engineering,Robot,Human–robot interaction,Handover,Robotics
Conference
Volume
Issue
ISBN
2017
1
978-1-5090-4634-8
Citations 
PageRank 
References 
4
0.49
6
Authors
4
Name
Order
Citations
PageRank
Augusto Gomez Eguiluz1115.09
I. Rañó240.82
S. A. Coleman3408.50
T. Martin Mcginnity451866.30