The Grasp Strategy of a Robot Passer Influences Performance and Quality of the Robot-Human Object Handover.

ABSTRACT: Task-aware robotic grasping is critical if robots are to successfully cooperate with humans. The choice of a grasp is multi-faceted; however, the task to perform primes this choice in terms of hand shaping and placement on the object. This grasping strategy is particularly important for a robot companion, as it can potentially hinder the success of the collaboration with humans. In this work, we investigate how different grasping strategies of a robot passer influence the performance and the perceptions of the interaction of a human receiver. Our findings suggest that a grasping strategy that accounts for the subsequent task of the receiver improves substantially the performance of the human receiver in executing the subsequent task. The time to complete the task is reduced by eliminating

SUBMITTER: Ortenzi V 

PROVIDER: S-EPMC7806048 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature