Autonomous Object Handover Using Wrist Tactile Information

Jelizaveta Konstantinova; Senka Krivic; Agostino Stilli; Justus Piater; Kaspar Althoefer

doi:10.1007/978-3-319-64107-2_35

Autonomous Object Handover Using Wrist Tactile Information

Jelizaveta Konstantinova^*, Senka Krivic, Agostino Stilli, Justus Piater, Kaspar Althoefer

^*Corresponding author for this work

Informatics

Research output: Chapter in Book/Report/Conference proceeding › Other chapter contribution › peer-review

12 Citations (Scopus)

279 Downloads (Pure)

Abstract

Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We present a robust method that relies only on the force information from the wrist and does not use any vision and tactile information from the fingers. By analyzing readings from a wrist force sensor, models of tactile response for receiving and releasing an object were identified and tested during validation experiments.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings
Publisher	Springer Verlag
Pages	450-463
Number of pages	14
Volume	10454 LNAI
ISBN (Electronic)	9783319641072
ISBN (Print)	9783319641065
DOIs	https://doi.org/10.1007/978-3-319-64107-2_35
Publication status	E-pub ahead of print - 20 Jul 2017
Event	18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017 - Guildford, United Kingdom Duration: 19 Jul 2017 → 21 Jul 2017

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10454 LNAI
ISSN (Print)	03029743
ISSN (Electronic)	16113349

Conference

Conference	18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017
Country/Territory	United Kingdom
City	Guildford
Period	19/07/2017 → 21/07/2017

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10.1007/978-3-319-64107-2_35

Autonomous Object Handover_KONSTANTINOVA_Publishedonline20July2017_GREEN AAM
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Accepted author manuscript, 3.75 MBLicence: Other

Cite this

Konstantinova, J., Krivic, S., Stilli, A., Piater, J., & Althoefer, K. (2017). Autonomous Object Handover Using Wrist Tactile Information. In Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings (Vol. 10454 LNAI, pp. 450-463). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10454 LNAI). Springer Verlag. Advance online publication. https://doi.org/10.1007/978-3-319-64107-2_35

Konstantinova, Jelizaveta ; Krivic, Senka ; Stilli, Agostino et al. / Autonomous Object Handover Using Wrist Tactile Information. Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. Vol. 10454 LNAI Springer Verlag, 2017. pp. 450-463 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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author = "Jelizaveta Konstantinova and Senka Krivic and Agostino Stilli and Justus Piater and Kaspar Althoefer",

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Konstantinova, J, Krivic, S, Stilli, A, Piater, J & Althoefer, K 2017, Autonomous Object Handover Using Wrist Tactile Information. in Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. vol. 10454 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10454 LNAI, Springer Verlag, pp. 450-463, 18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017, Guildford, United Kingdom, 19/07/2017. https://doi.org/10.1007/978-3-319-64107-2_35

Autonomous Object Handover Using Wrist Tactile Information. / Konstantinova, Jelizaveta; Krivic, Senka; Stilli, Agostino et al.
Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. Vol. 10454 LNAI Springer Verlag, 2017. p. 450-463 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10454 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Other chapter contribution › peer-review

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T1 - Autonomous Object Handover Using Wrist Tactile Information

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AU - Krivic, Senka

AU - Stilli, Agostino

AU - Piater, Justus

AU - Althoefer, Kaspar

PY - 2017/7/20

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N2 - Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We present a robust method that relies only on the force information from the wrist and does not use any vision and tactile information from the fingers. By analyzing readings from a wrist force sensor, models of tactile response for receiving and releasing an object were identified and tested during validation experiments.

AB - Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We present a robust method that relies only on the force information from the wrist and does not use any vision and tactile information from the fingers. By analyzing readings from a wrist force sensor, models of tactile response for receiving and releasing an object were identified and tested during validation experiments.

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Konstantinova J, Krivic S, Stilli A, Piater J, Althoefer K. Autonomous Object Handover Using Wrist Tactile Information. In Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings. Vol. 10454 LNAI. Springer Verlag. 2017. p. 450-463. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). Epub 2017 Jul 20. doi: 10.1007/978-3-319-64107-2_35

Autonomous Object Handover Using Wrist Tactile Information

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