Centrala begrepp
ContactHandover, a robot-to-human handover system that predicts human contact points on objects and uses this information to guide the robot's grasp selection and object delivery, in order to maximize the visibility and reachability of human preferred contact areas during handover.
Sammanfattning
ContactHandover is a two-phase robot-to-human object handover system that aims to maximize the visibility and reachability of human preferred contact areas on the object being handed over.
In the first phase, the grasping phase, ContactHandover predicts both 6-DoF robot grasp poses and a 3D affordance map of human contact points on the object. It then re-ranks the robot grasp poses by penalizing those that block human contact points, and executes the highest ranking grasp.
In the second phase, the delivery phase, ContactHandover computes the robot end effector pose that maximizes human contact points close to the human receiver while minimizing the human arm joint torques and displacements.
The authors evaluate ContactHandover on 27 diverse household objects and show that it achieves better visibility and reachability of human contacts compared to several baselines. Key findings include:
- Grasp re-ranking to avoid occluding human contacts improves the availability of human preferred contact areas during handover.
- Estimating the handover orientation to align human contacts with the receiver further increases the reachability of these contacts.
- Clustering human contacts is useful for objects with bimodal contact distributions, allowing the robot to focus on orienting the dominant contact cluster towards the human.
- ContactHandover can generalize to unseen object shapes and classes by leveraging the learned human contact preferences.
The authors propose two computational metrics, visibility and reachability, to quantitatively evaluate the quality of a handover in terms of aligning with human preferences. ContactHandover outperforms several ablations on these metrics, demonstrating its effectiveness in enabling natural and ergonomic robot-to-human object handovers.
Statistik
The robot should choose a stable grasp on the head of the hammer and leave enough room on the handle of the hammer for the receiver.
The robot should orient the handle of the hammer to the receiver instead of the head.
Citat
"A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and easy-to-use manner."
"The robot should deliver the object in a way that most natural grasping areas are visible and reachable from the receiver."