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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.

Citation status

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