Autonomous Object Handover Using Wrist Tactile Information
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.
The research leading to these results has received funding from the European Community’s Seventh Framework Programme under grant agreement no. 610532, SQUIRREL, and from the European Unions Horizon 2020 research and innovation programme under grant agreement no. 287728, FourByThree.
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