An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots
R. Rasch, S. Wachsmuth, M. König, in: IEEE (Ed.), 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2019, pp. 7588–7595.
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Konferenzbeitrag
| Veröffentlicht
| Englisch
Autor*in
herausgebende Körperschaft
IEEE
Einrichtung
Abstract
The handover of objects is a fundamental task in robot-human interaction. The nature of the handover can be varied by adjusting various parameters in order to achieve a human-like interaction. In this paper the final handover configuration is examined and analyzed. For this purpose, we conducted an experiment in which subjects taught a robot proper and improper end poses for different objects in different situations. We analyze the learned poses to determine what factors proper poses depend on. In addition to the poses, the configurations of the individual joints of the commercial robot are evaluated. Our results demonstrate that proper poses can be grouped into three clusters. These differ mainly in the rotation of the forearm. The height of a proper handover is also determined based on external factors.
Erscheinungsjahr
Titel des Konferenzbandes
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Seite
7588-7595
Konferenz
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Konferenzort
Macau, China
Konferenzdatum
2019-11-03 – 2019-11-08
FH-PUB-ID
Zitieren
Rasch, Robin ; Wachsmuth, Sven ; König, Matthias: An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots. In: IEEE (Hrsg.): 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : IEEE, 2019, S. 7588–7595
Rasch R, Wachsmuth S, König M. An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots. In: IEEE, ed. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE; 2019:7588-7595. doi:10.1109/IROS40897.2019.8967882
Rasch, R., Wachsmuth, S., & König, M. (2019). An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots. In IEEE (Ed.), 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7588–7595). Macau, China: IEEE. https://doi.org/10.1109/IROS40897.2019.8967882
@inproceedings{Rasch_Wachsmuth_König_2019, title={An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots}, DOI={10.1109/IROS40897.2019.8967882}, booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher={IEEE}, author={Rasch, Robin and Wachsmuth, Sven and König, Matthias}, editor={IEEEEditor}, year={2019}, pages={7588–7595} }
Rasch, Robin, Sven Wachsmuth, and Matthias König. “An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots.” In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), edited by IEEE, 7588–95. IEEE, 2019. https://doi.org/10.1109/IROS40897.2019.8967882.
R. Rasch, S. Wachsmuth, and M. König, “An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 7588–7595.
Rasch, Robin, et al. “An Evaluation of Robot-to-Human Handover Configurations for Commercial Robots.” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), edited by IEEE, IEEE, 2019, pp. 7588–95, doi:10.1109/IROS40897.2019.8967882.
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