動的な把持軌道のリアルタイム生成による柔軟なハンドオーバー
Flexible Handover with Real-Time Robust Dynamic Grasp Trajectory Generation
移動・回転する物体をロボットが柔軟な軌道で把持できるよう、リアルタイムで頑健な把持軌道を生成し、将来の把持予測も組み合わせたハンドオーバー手法を提案。家庭用品31種で成功率78.15%を達成。
著者: Gu Zhang, Hao-Shu Fang, Hongjie Fang, Cewu Lu
分類: cs.RO
原文アブストラクト
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion remains relatively unexplored. In this work, we propose an approach for effective and robust flexible handover, which enables the robot to grasp moving objects with flexible motion trajectories with a high success rate. The key innovation of our approach is the generation of real-time robust grasp trajectories. We also design a future grasp prediction algorithm to enhance the system's adaptability to dynamic handover scenes. We conduct one-motion handover experiments and motion-continuous handover experiments on our novel benchmark that includes 31 diverse household objects. The system we have developed allows users to move and rotate objects in their hands within a relatively large range. The success rate of the robot grasping such moving objects is 78.15% over the entire household object benchmark.
