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Autonomous Object Handover Using Wrist Tactile Information

Konstantinova, J; Krivic, S; Stilli, A; Piater, JH; Althoefer, K; (2017) Autonomous Object Handover Using Wrist Tactile Information. In: Gao, Y and Fallah, S and Jin, Y and Lekakou, C, (eds.) Proceedings of the Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science, vol 10454. (pp. pp. 450-463). Springer: Cham. Green open access

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Abstract

Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We present a robust method that relies only on the force information from the wrist and does not use any vision and tactile information from the fingers. By analyzing readings from a wrist force sensor, models of tactile response for receiving and releasing an object were identified and tested during validation experiments.

Type: Proceedings paper
Title: Autonomous Object Handover Using Wrist Tactile Information
Event: Towards Autonomous Robotic Systems. TAROS 2017
ISBN-13: 978-3-319-64106-5
Open access status: An open access version is available from UCL Discovery
DOI: 10.1007/978-3-319-64107-2_35
Publisher version: https://doi.org/10.1007/978-3-319-64107-2_35
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: http://discovery.ucl.ac.uk/id/eprint/10061099
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