DocumentCode
673111
Title
Handover motion based on human hand posture with hand/arm robot
Author
Kobayashi, Fukiko ; Kojima, Fumihide
Author_Institution
Dept. of Syst. Sci., Kobe Univ., Kobe, Japan
fYear
2013
fDate
10-13 Nov. 2013
Firstpage
1
Lastpage
6
Abstract
This paper deals with a handover motion for the hand/arm robot. Handing over objects to humans is an important motion for assistant robots. The robot has to make a motion for handover without disturbing human´s works. Therefore, we propose a handover motion control for the hand/arm robot according to the hand posture of humans. The robot estimates the hand posture with a motion sensing input device Kinect and moves upward from the palm of human´s hand.
Keywords
dexterous manipulators; human-robot interaction; motion control; Kinect; arm robot; assistant robots; hand posture estimation; hand robot; handover motion control; human hand palm; human hand posture; motion sensing input device; Handover; Robot kinematics; Robot sensing systems; Thumb;
fLanguage
English
Publisher
ieee
Conference_Titel
Micro-NanoMechatronics and Human Science (MHS), 2013 International Symposium on
Conference_Location
Nagoya
Print_ISBN
978-1-4799-1527-9
Type
conf
DOI
10.1109/MHS.2013.6710405
Filename
6710405
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