Name
Abstract | ||
|---|---|---|
As it happens, despite yet unmatched by robots perception and motor skills humans drop objects during handover because of false grasp detection and early release. Accordingly, the fluent robot-human handover is still an open challenge. This paper presents an approach to a natural robot to human handover using Capacitive Proximity Sensor (CPS) for robust grasp detection and release trigger. We propose an experimental setup for the evaluation using a collaborative robot, an eye-in-hand depth camera, and CPS integrated into the gripper. Three grasp detection methods were implemented and an object release was triggered based on torque-sensing, capacitive sensing, and the combination of both. Finally, a user study was designed and conducted, indicating that the capacitive method is the most preferred type with the shortest human idle time and the highest fluency ratings. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ICRA48506.2021.9560970 | 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) |
DocType | Volume | Issue |
Conference | 2021 | 1 |
ISSN | Citations | PageRank |
1050-4729 | 0 | 0.34 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ilshat Mamaev | 1 | 0 | 1.01 |
| David Kretsch | 2 | 0 | 0.34 |
| Hosam Alagi | 3 | 0 | 2.03 |
| Björn Hein | 4 | 39 | 12.36 |