Handing over Objects to Human in a Friendly and Comfortable Manner

Biyun Xie, Jing Zhao

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


In this paper, a robotic motion planning scheme is proposed to generate hand-over motions in a friendly and comfortable manner. Two sub-problems are studied: The determination of the final target position (where the robot should hand over the object to) and the generation of human-like motion in the hand-over process (how the robot should hand over the object to the position). First, experiments of different subjects are conducted to explore the common characteristics in the optimal hand-over positions. The result shows that their joint angles are similar at the optimal hand-over position. Therefore, the optimal hand-over position can be determined by forward kinematics based on the measured average joint angles. Then, two methods are proposed to plan the human-like hand-over motions in an obstacle-free environment and in an obstacle-present environment, respectively. A series of experimental comparisons is conducted to prove the validity of the methods. A robotic arm is controlled to hand over a cube to humans in human-like way and nonhuman-like way. The subjects are asked to grade the hand-over motion of the robotic arm on a scale of 1 to 5. The results show that the hand-over motions planned by the methods proposed in this paper can make people feel safer and more comfortable.

Original languageEnglish
Article number1550012
JournalInternational Journal of Humanoid Robotics
Issue number4
StatePublished - Dec 1 2015

Bibliographical note

Funding Information:
This research is supported by National Natural Science Foundation of China (No. 51475016) and by Doctoral Fund of Innovation of Beijing University of Technology (No.YB201303).

Publisher Copyright:
© 2015 World Scientific Publishing Company.


  • Human-robot interaction
  • hand-over motion
  • motion planning of human-like movement
  • object hand-over position

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence


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