TY - GEN
T1 - Robot-Human Handovers Based on Trust
AU - Walker, Ian D.
AU - Mears, Laine
AU - Mizanoor, Rahman S.M.
AU - Pak, Richard
AU - Remy, Sekou
AU - Wang, Yue
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/3/2
Y1 - 2016/3/2
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84964579595&partnerID=8YFLogxK
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U2 - 10.1109/MCSI.2015.50
DO - 10.1109/MCSI.2015.50
M3 - Conference contribution
AN - SCOPUS:84964579595
T3 - Proceedings - 2015 2nd International Conference on Mathematics and Computers in Sciences and in Industry, MCSI 2015
SP - 119
EP - 124
BT - Proceedings - 2015 2nd International Conference on Mathematics and Computers in Sciences and in Industry, MCSI 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Mathematics and Computers in Sciences and in Industry, MCSI 2015
Y2 - 17 August 2015 through 19 August 2015
ER -