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Natural interaction for object hand-over

Mamoun Gharbi 1 Séverin Lemaignan 1 Jim Mainprice 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : The video presents in a didactic way several abilities and algorithms required to achieve interactive "pick and give" tasks in a human environment. Communication between the human and the robot relies on unconstrained verbal dialogue, the robot uses multi-modal perception to track the human and its environment, and implements real-time 3D motion planning algorithms to achieve collision-free and human-aware interactive manipulation. We tackle here the issue of natural and legible behaviour for a robot intended to live in domestic environment, amongst human peers. Natural because we aim at unconstrained spoken English mixed with gestures and perspective taking to communicate with the robot ; legible because we apply human-aware motion planning algorithms that ensure a smooth human-robot interaction by accounting for implicit social rules which appear in placement or approach strategies.
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Contributor : Rachid Alami <>
Submitted on : Thursday, January 10, 2019 - 11:36:29 AM
Last modification on : Thursday, June 10, 2021 - 3:06:31 AM


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  • HAL Id : hal-01976735, version 1


Mamoun Gharbi, Séverin Lemaignan, Jim Mainprice, Rachid Alami. Natural interaction for object hand-over. 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Mar 2013, Tokyo, Japan. ⟨hal-01976735⟩



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