Human robot collaborative work requires interactive manipulation and object handover. During the execution of such tasks, the robot should monitor manipulation cues to assess the human intentions and quickly determine the appropriate execution strategies. In this paper, we present a control architecture that combines a supervisory attentional system with a human aware manipulation planner to support effective and safe collaborative manipulation. After detailing the approach, we present experimental results describing the system at work with different manipulation tasks (give, receive, pick, and place).
An Attentional Approach to Human-Robot Interactive Manipulation / X., Broquere; Finzi, Alberto; J., Mainprice; Rossi, Silvia; D., Sidobre; Staffa, Mariacarla. - In: INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS. - ISSN 1875-4791. - 6:4(2014), pp. 533-553. [10.1007/s12369-014-0236-0]
An Attentional Approach to Human-Robot Interactive Manipulation
FINZI, ALBERTO;ROSSI, SILVIA;STAFFA, MARIACARLA
2014
Abstract
Human robot collaborative work requires interactive manipulation and object handover. During the execution of such tasks, the robot should monitor manipulation cues to assess the human intentions and quickly determine the appropriate execution strategies. In this paper, we present a control architecture that combines a supervisory attentional system with a human aware manipulation planner to support effective and safe collaborative manipulation. After detailing the approach, we present experimental results describing the system at work with different manipulation tasks (give, receive, pick, and place).| File | Dimensione | Formato | |
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