I. Walker, L. Mears, Rahman S. M. Mizanoor, R. Pak, S. Remy, Yue Wang
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引用次数: 12
Abstract
We present a new approach to payload handovers between robots and humans in collaborative human-co-robot operations. The key innovation is the incorporation of robot trust (in the human) in the underlying robot motion planning algorithm. Using a weighted Jacobian pseudoinverse algorithm, the robot motions are varied (trading off collision risk against task efficiency) based on the current value of trust. The targeted application is small-scale manufacturing, but the approach can be applied to many forms of robot-human handovers and interactions.
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