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Towards planning Human-Robot Interactive manipulation tasks: Task dependent and human oriented autonomous selection of grasp and placement

Amit Kumar Pandey 1 Jean-Philippe Saut 1 Daniel Sidobre 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In a typical Human-Robot Interaction (HRI) scenario, the robot needs to perform various tasks for the human, hence should take into account human oriented constraints. In this context it is not sufficient that the robot selects grasp and placement of the object from the stability point of view only. Motivated from human behavioral psychology, in this paper we emphasize on the mutually depended nature of grasp and placement selections, which is further constrained by the task, the environment and the human's perspective. We will explore essential human oriented constraints on grasp and placement selections and present a framework to incorporate them in synthesizing key configurations of planning basic interactive manipulation tasks.
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https://hal.laas.fr/hal-01976231
Contributor : Rachid Alami <>
Submitted on : Wednesday, January 9, 2019 - 7:59:05 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM

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Amit Kumar Pandey, Jean-Philippe Saut, Daniel Sidobre, Rachid Alami. Towards planning Human-Robot Interactive manipulation tasks: Task dependent and human oriented autonomous selection of grasp and placement. 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun 2012, Rome, Italy. ⟨10.1109/BioRob.2012.6290776⟩. ⟨hal-01976231⟩

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