Model Predictive Control for Fluid Human-to-Robot Handovers
Wei Yang,Balakumar Sundaralingam,Chris Paxton,Iretiayo Akinola,Yu-Wei Chao,Maya Cakmak,Dieter Fox,Wei Yang,Balakumar Sundaralingam,Chris Paxton,Iretiayo Akinola,Yu-Wei Chao,Maya Cakmak,Dieter Fox
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp generators. However, how to responsively generate smooth motions to take an object from a human is still an open question. Specifically, planning motions that take human...
