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An Attentional Approach to Human–Robot Interactive Manipulation

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).
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https://hal.laas.fr/hal-01994847
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Submitted on : Friday, January 25, 2019 - 5:12:02 PM
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Xavier Broquère, Alberto Finzi, Jim Mainprice, Silvia Rossi, Daniel Sidobre, et al.. An Attentional Approach to Human–Robot Interactive Manipulation. International Journal of Social Robotics, Springer, 2014, 6 (4), pp.533-553. ⟨10.1007/s12369-014-0236-0⟩. ⟨hal-01994847⟩

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