Human-robot object handover:Recent progress and future direction  

作　　者：Haonan Duan Yifan Yang Daheng Li Peng Wang 

机构地区：[1]Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China [2]School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China [3]Centre for Artificial Intelligence and Robotics,Hong Kong Institute of Science and Innovation,Chinese Academy of Sciences,Hong Kong 999077,China

出　　处：《Biomimetic Intelligence & Robotics》2024年第1期1-13,共13页仿生智能与机器人（英文）

基　　金：This work was supported by the National Natural Science Foundation of China(91748131,62006229 and 61771471);the Strategic Priority Research Program of Chinese Academy of Science(XDB32050106);the InnoHK Project.

摘　　要：Human-robot object handover is one of the most primitive and crucial capabilities in human-robot collaboration.It is of great significance to promote robots to truly enter human production and life scenarios and serve human in numerous tasks.Remarkable progressions in the field of human-robot object handover have been made by researchers.This article reviews the recent literature on human-robot object handover.To this end,we summarize the results from multiple dimensions,from the role played by the robot(receiver or giver),to the end-effector of the robot(parallel-jaw gripper or multi-finger hand),to the robot abilities(grasp strategy or motion planning).We also implement a human-robot object handover system for anthropomorphic hand to verify human-robot object handover pipeline.This review aims to provide researchers and developers with a guideline for designing human-robot object handover methods.

关 键 词：Human-robot interactions Object handover 

分 类 号：TN242[电子电信—物理电子学]