Robot-Human Handovers Based on Trust

Ian D. Walker, Laine Mears, Rahman S.M. Mizanoor, Richard Pak, Sekou Remy, Yue Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

We present a new approach to payload handovers between robots and humans in collaborative human-co-robot operations. The key innovation is the incorporation of robot trust (in the human) in the underlying robot motion planning algorithm. Using a weighted Jacobian pseudoinverse algorithm, the robot motions are varied (trading off collision risk against task efficiency) based on the current value of trust. The targeted application is small-scale manufacturing, but the approach can be applied to many forms of robot-human handovers and interactions.

Original languageEnglish (US)
Title of host publicationProceedings - 2015 2nd International Conference on Mathematics and Computers in Sciences and in Industry, MCSI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages119-124
Number of pages6
ISBN (Electronic)9781479986736
DOIs
StatePublished - Mar 2 2016
Event2nd International Conference on Mathematics and Computers in Sciences and in Industry, MCSI 2015 - Sliema, Malta
Duration: Aug 17 2015Aug 19 2015

Publication series

NameProceedings - 2015 2nd International Conference on Mathematics and Computers in Sciences and in Industry, MCSI 2015

Conference

Conference2nd International Conference on Mathematics and Computers in Sciences and in Industry, MCSI 2015
Country/TerritoryMalta
CitySliema
Period8/17/158/19/15

All Science Journal Classification (ASJC) codes

  • Computational Theory and Mathematics
  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Control and Optimization

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