TY  - JOUR
PY  - 2013//
TI  - A human-inspired object handover controller
JO  - International journal of robotic research
A1  - Chan, Wesley P.
A1  - Parker, Chris AC
A1  - Loos, HF Machiel Van der
A1  - Croft, Elizabeth A.
SP  - 971
EP  - 983
VL  - 32
IS  - 8
N2  - In this paper, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot's handover behavior. The controller enables a robot to mimic human behavior by actively regulating the applied grip force according to the measured load force during a handover. We provide an implementation of the controller on a Willow Garage PR2 robot, demonstrating the feasibility of realizing our design on robots with basic sensor/actuator capabilities. A user study comparing four variations of our controller shows that our design yields both human-like and human-preferred object handovers.<p /> <p>Language: en</p>
LA  - en
SN  - 0278-3649
UR  - http://dx.doi.org/10.1177/0278364913488806
ID  - ref1
ER  -