Li-Ming Li, Jing Zhao, and Chao-Jie Yan
Object handover position, handover motion, humanlike motion planning, human–robot interaction
Two sub-problems could be studied in this paper: where the object should be delivered to by a robot (determination of the final target position) and how the robot should handover the object to the position (generation of humanlike motion). First, experiments of different subjects are conducted to explore common characteristics in the optimal handover position. The result shows: at the optimal handover position, all subjects’ joint angles are similar. Therefore, the optimal handover position can be determined by forward kinematics based on the measured average joint angles. Then, to plan the humanlike handover motion, a method proposed for a simple obstacle-present environment. And for the improvement of the methods’ effectiveness, an experimental comparison has been designed. NAO’s right arm is controlled to deliver a cube to the receiver in humanlike and non-humanlike ways, which are scored by subjects. The results show that using the method proposed in this paper to plan the handover motion could make the receiver feel more comfortable and friendlier.
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