Study on the Optimal Method of Handover Operation for HRI (HRI를 위한 핸드오버 동작의 최적화 방안 연구 )

Lee Sang Joon (이상준); Jang, Byeong-Ok (장병옥)

Study on the Optimal Method of Handover Operation for HRI

Journal of Knowledge Information Technology and Systems
Abbr : JKITS
2010, 5(6), pp.255-261
Publisher : Korea Knowledge Information Technology Society
Research Area : Interdisciplinary Studies > Interdisciplinary Research
Published : December 31, 2010

Lee Sang Joon ¹, Jang, Byeong-Ok ²

¹전남대학교
²나사렛대학교

Candidate

ABSTRACT

In the era of ubiquitous, ubiquitous home-service robot exist on one of the most important roles for human-helper. We propose the advanced methods of determination of grasp sites for handover operations. And also, we address useful operations for handover: two-step handover with midair re-grasp. We show the effectiveness of our algorithm for interaction between human and robots with 3D graphical simulations, and then it is tested with our humanoid real home service robot. The designed 3D grasp planner is modeled using each different objects and finally, proved the proposed grasp method which is considering etiquette factor for efficient human grasp.

KEYWORDS

HRI, Humanoid Robot, Motion, Handover

Citation status

* References for papers published after 2023 are currently being built.

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