Autonomous Object Handover Using Wrist Tactile Information

Jelizaveta Konstantinova*, Senka Krivic, Agostino Stilli, Justus Piater, Kaspar Althoefer

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingOther chapter contributionpeer-review

10 Citations (Scopus)
248 Downloads (Pure)

Abstract

Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We present a robust method that relies only on the force information from the wrist and does not use any vision and tactile information from the fingers. By analyzing readings from a wrist force sensor, models of tactile response for receiving and releasing an object were identified and tested during validation experiments.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings
PublisherSpringer Verlag
Pages450-463
Number of pages14
Volume10454 LNAI
ISBN (Electronic)9783319641072
ISBN (Print)9783319641065
DOIs
Publication statusE-pub ahead of print - 20 Jul 2017
Event18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017 - Guildford, United Kingdom
Duration: 19 Jul 201721 Jul 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10454 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

Conference18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017
Country/TerritoryUnited Kingdom
CityGuildford
Period19/07/201721/07/2017

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