Published October 20, 2023
| Version v1
Conference paper
Open
Towards a software pipeline for seamless robot-to-human handover
Description
This work presents a modular software architecture for
robotic handover. The architecture includes: neuromorphic
perception for detection and estimation of human movements;
motion predictors for anticipating partners movements
and adapt to them; and finally, adaptation mechanisms
that command a low-level controller for a robotic arm
equipped with an anthropomorphic hand, for object seamless
motion and release. Preliminary results in robot-to-human
handover involving the modules of prediction and low-level
control corroborate the effectiveness of the proposed
architecture.