The proposed mobile robot handover system is delineated into five distinct modules: Perception, Grasp Planning, Navigation, Hand Pose Generation, and Handover Execution. (IMAGE)
Caption
Initially, the Perception module enables the robot to search and identify the object within its environment. Leveraging prior knowledge, the Grasp Planning module predicts an appropriate hand pose for successful object grasping. Following this, the Navigation module guides the robot toward the human recipient, dynamically adjusting to their current posture. The Hand Pose Generation module is responsible for tracking the human hand and generating a detailed mesh model, which aids in pinpointing the optimal handover location. Finally, the robot completes the handover by transferring the object to the human using a responsive strategy that adapts to real-time human movements.
Credit
Tin Lun Lam, School of Science and Engineering, The Chinese University of Hong Kong
Usage Restrictions
News organizations may use or redistribute this image, with proper attribution, as part of news coverage of this paper only.
License
Licensed content