On-The-Go Robot-to-Human Handovers with a Mobile Manipulator

TL;DR

This paper introduces a novel method for mobile manipulators to perform object handovers to humans without stopping, using a reactive control system that enhances efficiency and naturalness.

Contribution

It presents the first on-the-go handover approach enabling mobile manipulators to transfer objects while moving, improving over traditional stop-and-deliver methods.

Findings

On-the-go handovers are perceived as more efficient by users.

Participants found on-the-go handovers more natural and better timed.

The approach enhances safety and predictability during object transfer.

Abstract

Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a moving mobile manipulator to hand over an object to a human without stopping. The on-the-go handover motion is generated with a reactive controller that allows simultaneous control of the base and the arm. In a user study, human receivers subjectively assessed on-the-go handovers to be more efficient, predictable, natural, better timed and safer than handovers that implemented a "stop-and-deliver" behavior.