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.
|Journal||International Journal of Humanoid Robotics|
|State||Published - Dec 1 2015|
Bibliographical noteFunding 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).
© 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