Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers
<|reference_start|>Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers: Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human object handovers. We use a Hidden Semi-Markov Model (HSMM) to reactively generate suitable response trajectories for a robot based on the observed human partner's motion. The trajectories are adapted with task space constraints to ensure accurate handovers. Results from a pilot study show that our approach is perceived as more human--like compared to a baseline Inverse Kinematics approach.<|reference_end|>
@article{göksu2024kinematically,
    title={Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers},
    author={Yasemin G"oksu, Antonio De Almeida Correia, Vignesh Prasad, Alap
  Kshirsagar, Dorothea Koert, Jan Peters, Georgia Chalvatzaki},
    journal={arXiv preprint arXiv:2402.14525},
    year={2024},
    doi={10.1145/3610978.3640670},
    archivePrefix={arXiv},
    eprint={2402.14525},
    primaryClass={cs.RO cs.HC cs.LG}
}