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Sharing effort in planning human-robot handover tasks

Jim Mainprice 1 Mamoun Gharbi 1 Thierry Simeon 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : For a versatile human-assisting mobile-manipulating robot such as the PR2, handing over objects to humans in possibly cluttered workspaces is a key capability. In this paper we investigate the motion planning of handovers while accounting for the human mobility. We treat the human motion as part of the planning problem thus enabling to find broader type of handing strategies. We formalize the problem and propose an algorithmic solution taking into account the HRI constraints induced by the human receiver presence. Simulation results with the PR2 robot illustrate the efficacy of the approach.
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Contributor : Rachid Alami <>
Submitted on : Thursday, January 10, 2019 - 11:29:40 AM
Last modification on : Thursday, June 10, 2021 - 3:02:16 AM


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  • HAL Id : hal-01976706, version 1


Jim Mainprice, Mamoun Gharbi, Thierry Simeon, Rachid Alami. Sharing effort in planning human-robot handover tasks. IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, Sep 2012, Paris, France. ⟨hal-01976706⟩



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