Preemptive Motion Planning for Human-to-Robot Indirect Placement Handovers

arXiv:2203.00156v3 Announce Type: replace-cross
Abstract: As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can take either of two approaches: (1) direct hand-to-hand or (2) indirect hand-to-placement-to-pick-up. The latter approach ensures minimal contact between the human and robot but can also result in increased idle time due to having to wait for the object to first be placed …

abstract advances arxiv become collaborative cs.ai cs.cv cs.lg cs.ro human motion planning placement planning robot tasks teams technology type