Compliant Blind Handover Control for Human-Robot Collaboration

TL;DR

This paper introduces a novel blind handover system enabling robots to autonomously and safely transfer objects to humans focused away, enhancing human-robot collaboration without relying on visual cues.

Contribution

It proposes a new architecture for blind handovers that ensures safety and autonomy in human-robot collaboration scenarios where the human's face is not visible.

Findings

Successfully manages safe object transfer without visual cues

Operates autonomously in blind handover scenarios

Enhances naturalness and efficiency of human-robot interaction

Abstract

This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires an object from the robot. In this context, it is imperative for the robot to autonomously manage the entire handover process. Key considerations include ensuring safety while handing the object to the operator's hand, and detect the proper timing to release the object. The article explores strategies to navigate these challenges, emphasizing the need for a robot to operate safely and independently in facilitating blind handovers, thereby contributing to the advancement of HRC protocols and fostering a natural and efficient collaboration between humans and robots.