移動マニピュレータによる停止不要のロボット→人間ハンドオーバー
On-The-Go Robot-to-Human Handovers with a Mobile Manipulator
移動マニピュレータが停止せずに人へ物体を渡す「オン・ザ・ゴー」ハンドオーバーを提案し、台車とアームを同時制御する反応型コントローラで実現した。ユーザー研究で停止型より効率的・予測可能・自然・安全と評価された。
著者: Kerry He, Pradeepsundar Simini, Wesley Chan, Dana Kulić, Elizabeth Croft, Akansel Cosgun
分類: cs.RO
原文アブストラクト
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a moving mobile manipulator to hand over an object to a human without stopping. The on-the-go handover motion is generated with a reactive controller that allows simultaneous control of the base and the arm. In a user study, human receivers subjectively assessed on-the-go handovers to be more efficient, predictable, natural, better timed and safer than handovers that implemented a "stop-and-deliver" behavior.
