Publication
Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers
Y. Goeksu; A. Almeida-Correia; V. Prasad; A. Kshirsagar; D. Koert; Jan Peters; G. Chalvatzaki
In: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’24 Companion). ACM/IEEE International Conference on Human-Robot Interaction (HRI-2024), Association for Computing Machinery, 2024.
Abstract
Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human object handovers. We use a Hidden Semi-Markov Model (HSMM) to reactively generate suitable response trajectories for a robot based on the observed human partner’s motion. The trajectories are adapted with task space constraints to ensure accurate handovers. Results from a pilot study show that our approach is perceived as more human–like compared to a baseline Inverse Kinematics approach.