Human interaction with a service robot: mobile-manipulator handing over an object to a human

The interaction of a human and a service robot through the hand-over task is studied in this paper. Control issues are addressed for a service mobile-manipulator delivering and handing over objects to a human. The Contention Architecture controller is designed and implemented allowing for such task to be accomplished in a safe manner, as it requires coexistence and close interaction of the robot and the human. Experimental results of a realistic computer simulation are presented where a 75 kilogram human receives an object from a mobile manipulator with three degrees of freedom. The robot is capable of handing over the object to human, and compensating for unexpected movements of the human through its arm motion and base movement.

[1]  Kazuo Tanie,et al.  Interactive Human-Robot Pole Balancing Utilizing Multiple Virtual Fuzzy Agents , 1996 .

[2]  Kanya Tanaka,et al.  Mechanical impedance characteristics of robots for coexistence with humans , 1997, Proceedings of International Conference on Robotics and Automation.

[3]  Kanya Tanaka,et al.  Experimental analysis of handing over , 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

[4]  A.-J. Baerveldt.  Cooperation between man and robot: interface and safety , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[5]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[6]  Yuan F. Zheng,et al.  Arm-manipulator coordination for load sharing using compliant control , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Ryojun Ikeura,et al.  Cooperative motion control of a robot and a human , 1994, Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication.

[8]  S. Iiajiliawa,et al.  Motion Planning for Hand-Over between Human and Robot , 1995 .

[9]  Kazuhiro Kosuge,et al.  Control of manipulator/vehicle system for man-robot cooperation based on human intention , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[10]  Tamio Arai,et al.  Distributed Autonomous Robotic Systems 3 , 1998 .