物体の重さがハンドオーバーに与える影響：人間の動作から学ぶロボットの把持解放と運動
Impact of Object Weight in Handovers: Inspiring Robotic Grip Release and Motion from Human Handovers
物体の重さが人間の受け渡し動作と把持解放に与える影響を分析し、それを模倣した適応的なロボットの把持解放・運動戦略を構築して、自然さ・効率・安全性を向上させた研究。
著者: Parag Khanna, Mårten Björkman, Christian Smith
分類: cs.RO, cs.HC
原文アブストラクト
This work explores the effect of object weight on human motion and grip release during handovers to enhance the naturalness, safety, and efficiency of robot-human interactions. We introduce adaptive robotic strategies based on the analysis of human handover behavior with varying object weights. The key contributions of this work includes the development of an adaptive grip-release strategy for robots, a detailed analysis of how object weight influences human motion to guide robotic motion adaptations, and the creation of handover-datasets incorporating various object weights, including the YCB handover dataset. By aligning robotic grip release and motion with human behavior, this work aims to improve robot-human handovers for different weighted objects. We also evaluate these human-inspired adaptive robotic strategies in robot-to-human handovers to assess their effectiveness and performance and demonstrate that they outperform the baseline approaches in terms of naturalness, efficiency, and user perception.
