Published October 10, 2021
| Version v1
Conference paper
Open
Vision based robot-to-robot object handover
Authors/Creators
Description
This work deals with an autonomous robot-to-robot
object handover in the presence of uncertainties. Both the giver
and receiver robots are equipped with an hand-in-eye depth
camera and a deep learning based approach is adopted for
detecting the presence of the object. The physical exchange is
performed by recurring to an estimate of the contact forces and
an impedance control, which allows the receiver robot to perceive
the presence of the object and the giver one to recognize that
the handover is complete.