Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers
Yasemin Göksu Antonio De Almeida Correia Vignesh Prasad Alap Kshirsagar Dorothea Koert Jan Peters Georgia Chalvatzaki
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.