论文标题
手机操纵器随身携带机器人到人类移交
On-The-Go Robot-to-Human Handovers with a Mobile Manipulator
论文作者
论文摘要
现有的直接机器人到人类移交的方法通常在固定基准机器人臂上或移动操纵器上实现，或者在执行移交之前完全停止的移动操纵器上实现。我们提出了“随身携带的”交接，使移动的移动操纵器可以将物体移交给人，而不会停止。随身携带的移交运动是用一个反应性控制器生成的，该控制器允许同时控制底座和手臂。在一项用户研究中，人类接收者主观评估了与实施“停车驱使”行为的移交者更有效，可预测，自然，定时和更安全。
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a moving mobile manipulator to hand over an object to a human without stopping. The on-the-go handover motion is generated with a reactive controller that allows simultaneous control of the base and the arm. In a user study, human receivers subjectively assessed on-the-go handovers to be more efficient, predictable, natural, better timed and safer than handovers that implemented a "stop-and-deliver" behavior.
