Specification and Control of Human-Robot Handovers Using Constraint-Based Programming

This paper introduces a constraint-based specification of an object handover in order to simplify the implementation of reactive handover controllers. A number of desired robot behaviors are identified in different phases of the handover and specified as constraints. The degrees-of-freedom in the reaching motion towards the tracked object, such as rotational symmetry in the object, are easily expressed with constraints and used by the controller. During the physical transfer, a desired force interaction and compliance can be specified. Deviations from the nominal behavior are also dealt with, such as breaking of the handover intent, a moving object and disturbance forces. The controller is validated on a real robot setup showcasing a bidirectional handover. Thanks to the modular approach of combining constraints the developed task specification can be easily extended with more reactive behaviors in the future.

ISBN:978-3-030-96359-0

Jaar van publicatie:2022

Toegankelijkheid:Open