Skip to Main content Skip to Navigation
Conference papers

Planning Safe and Legible Hand-over Motions for Human-Robot Interaction

Jim Mainprice 1 Emrah Akin Sisbot 1 Thierry Simeon 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Human-Robot interaction brings new challenges to motion planning. The human, who is generally considered as an obstacle for the robot, needs to be considered as a separate entity that has a position, a posture, a field of view and an activity. These properties can be represented as new constraints to the motion generation mechanisms. In this paper we present three human related constraints to the motion planning for object hand over scenarios. We also describe a new planning method to consider these constraints. The resulting system automatically computes where the object should be transferred to the human, and the motion of the whole robot considering human's comfort.
Complete list of metadatas

Cited literature [24 references]  Display  Hide  Download

https://hal.laas.fr/hal-01976223
Contributor : Rachid Alami <>
Submitted on : Wednesday, January 9, 2019 - 7:48:56 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM

File

2010-iarp-mainprice.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01976223, version 1

Citation

Jim Mainprice, Emrah Akin Sisbot, Thierry Simeon, Rachid Alami. Planning Safe and Legible Hand-over Motions for Human-Robot Interaction. IARP/IEEE-RAS/EURON workshop on technical challenges for dependable robots in human environments, 2010, Toulouse, France. ⟨hal-01976223⟩

Share

Metrics

Record views

107

Files downloads

158