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
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;
Conference_Titel :
Micro-NanoMechatronics and Human Science (MHS), 2013 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4799-1527-9
DOI :
10.1109/MHS.2013.6710405
