Chapter 69 — Physical Human-Robot Interaction

Human-robot handover

In this video, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers. The controller enables a robot to mimic human behavior by actively regulating the applied grip force according to the measured load force during a handover. We provide an implementation of the controller on a Willow Garage PR2 robot, demonstrating the feasibility of realizing our design on robots with basic sensor/actuator capabilities.
Wesley P. Chan, Chris A. Parker, H.F.Machiel Van der Loos, Elizabeth A. Croft
Thanks to Jake Rose for presenting the voice over content and UBC UILO for production.
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