Enabling Effective Object Handovers between Humans and Robots Through the Use of Shared Autonomy for Physical Human-Robot Interaction

摘要

In this paper we explored the idea of using shared autonomy for carrying out physical human-robot interaction tasks. We used robot-human object handover as an example task and we divided a handover task into the reach-over subtask and the object transfer subtask. We proposed to use teleoperated control for carrying out the reach-over subtask, and autonomous control for the object transfer subtask. We are currently implementing a system for executing shared autonomy object handovers. Upon completion of the system, we will test the use of shared autonomy in object handovers and compare it with handovers that use full teleoperation or full autonomy.