Handover planning for every occasion

Ana Huaman Quispe, Hani Ben Amor, Mike Stilman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper we explore shared manipulation tasks involving collaboration between two agents: a bimanual manipulator and a movable humanoid. We propose a deterministic planner that outputs a handover pose for the object manipulated, the grasps to be used for both agents, and arm trajectories that allow the agents to reach, grasp, interchange and place the object at its final goal pose. Most existing approaches to shared manipulation assume that both participating agents are (or can be) positioned face-to-face. In this paper, we consider a more general set of scenarios in which the relative pose between agents is not tightly constrained to facing each other. To accomplish a successful interaction between the agents, careful planning must be done in order to select the best possible handover pose such that the movable agent should not need to move its torso, only its arm, to interact with the object. We present 3 simulation experiments with manipulation tasks performed by a bimanual fixed manipulator and a humanoid robot.

Original languageEnglish (US)
Title of host publicationIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages431-436
Number of pages6
Volume2015-February
ISBN (Print)9781479971749
DOIs
StatePublished - Feb 12 2015
Externally publishedYes
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: Nov 18 2014Nov 20 2014

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
CountrySpain
CityMadrid
Period11/18/1411/20/14

Fingerprint

Planning
Manipulators
Interchanges
Trajectories
Robots
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

Cite this

Quispe, A. H., Ben Amor, H., & Stilman, M. (2015). Handover planning for every occasion. In IEEE-RAS International Conference on Humanoid Robots (Vol. 2015-February, pp. 431-436). [7041396] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041396

Handover planning for every occasion. / Quispe, Ana Huaman; Ben Amor, Hani; Stilman, Mike.

IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society, 2015. p. 431-436 7041396.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Quispe, AH, Ben Amor, H & Stilman, M 2015, Handover planning for every occasion. in IEEE-RAS International Conference on Humanoid Robots. vol. 2015-February, 7041396, IEEE Computer Society, pp. 431-436, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 11/18/14. https://doi.org/10.1109/HUMANOIDS.2014.7041396
Quispe AH, Ben Amor H, Stilman M. Handover planning for every occasion. In IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February. IEEE Computer Society. 2015. p. 431-436. 7041396 https://doi.org/10.1109/HUMANOIDS.2014.7041396
Quispe, Ana Huaman ; Ben Amor, Hani ; Stilman, Mike. / Handover planning for every occasion. IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society, 2015. pp. 431-436
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