Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties requires the use of scanned 3D object models or expensive equipment, such as motion capture systems and markers, or both. However, testing handover algorithms with robots may be dangerous for the human and, when the object is an open container with liquids, for the robot. In this paper, we propose a real-to-simulation framework to develop safe human-to-robot handovers with estimations of the physical properties of unknown cups or drinking glasses and estimations of the human hands from videos of a human manipulating the container. We complete the handover in simulation, and we estimate a region that is not occluded by the hand of the human holding the container. We also quantify the safeness of the human and object in simulation. We validate the framework using public recordings of containers manipulated before a handover and show the safeness of the handover when using noisy estimates from a range of perceptual algorithms.
Task-Agnostic Adaptation for Safe Human-Robot Handover
Carnegie Mellon University（卡内基梅隆大学）
人机交互是提高现代生产线柔性的重要组成部分。然而，在现实世界的应用中，任务（\ie，机器人需要操作的条件，例如环境照明条件、要与之交互的人类主体以及硬件平台）可能会变化，并且在这些变化的任务下最佳地且有效地配置和适配机器人系统仍然具有挑战性。为了应对这一挑战，本文提出了一种与任务无关的自适应控制器，该控制器可以1）适应不同的照明条件，2）适应个人行为并确保与不同人交互时的安全性，3）通过不同的控制接口轻松实现跨机器人平台的传输。建议的框架进行了测试，使用FANUC LR Mate 200 id/7 L机器人和Kinova Gen 3机器人的人机交接任务。实验结果表明，所提出的任务无关控制器可以在不同的任务之间实现一致的性能。
An Experimental Validation and Comparison of Reaching Motion Models for Unconstrained Handovers: Towards Generating Humanlike Motions for Human-Robot Handovers
Monash University（莫纳什大学）；University of British Columbia（不列颠哥伦比亚大学）
R2HandoverSim: A Simulation Framework and Benchmark for Robot-to-Human Object Handovers
DANiLab, University of Leicester（莱斯特大学DANiLab）；School of Computing and Mathematical Sciences, University of Leicester（莱斯特大学计算与数学科学学院）；School of Metallurgy and Materials, University of Birmingham（伯明翰大学冶金与材料学院）
Intent-Handover: Grounding Language in Human-Usage Regions for Trustworthy Robot-to-Human Handovers
DANiLab, University of Leicester（莱斯特大学DANiLab）；University of Leicester（莱斯特大学）；School of Computing and Mathematical Sciences, University of Leicester（莱斯特大学计算与数学科学学院）；School of Metallurgy and Materials, University of Birmingham（伯明翰大学冶金与材料学院）
Comparing Subjective Perceptions of Robot-to-Human Handover Trajectories
Monash University（莫纳什大学）；University of British Columbia（不列颠哥伦比亚大学）；Australian National University（澳大利亚国立大学）；Deakin University（迪肯大学）；University of Victoria（维多利亚大学）
Object-Independent Human-to-Robot Handovers using Real Time Robotic Vision
TU Wien（维也纳工业大学）；Australian Center of Robotic Vision（澳大利亚机器人视觉中心）；Monash University（蒙纳士大学）；University of Birmingham（伯明翰大学）；Queensland University of Technology（昆士兰科技大学）
Adaptive vs. Static Robot-to-Human Handover: A Study on Orientation and Approach Direction
Department of Engineering "Enzo Ferrari", University of Modena and Reggio Emilia（工程学院"Enzo Ferrari"，摩德纳和雷吉奥艾米利亚大学）；Department of Surgery, Medicine, Dentistry and Morphological Sciences, University of Modena and Reggio Emilia（外科、医学、牙科和形态学科学学院，摩德纳和雷吉奥艾米利亚大学）
Queensland University of Technology（昆士兰科技大学）；ARC Centre of Excellence for Robotic Vision（澳大利亚研究理事会机器人视觉卓越中心）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Monash University（莫纳什大学）；University of Birmingham（伯明翰大学）
Audio-Visual Object Classification for Human-Robot Collaboration
Queen Mary University of London（伦敦玛丽女王大学）；University of Technology Sydney（悉尼科技大学）；École polytechnique fédérale de Lausanne（洛桑联邦理工学院）；Worcester Polytechnic Institute（伍斯特理工学院）
Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland（阿alto大学电气工程学院智能机器人小组）
Generative Grasp Detection and Estimation with Concept Learning-based Safety Criteria
Innovative Factory Solutions（创新工厂解决方案）；German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心）；Chair of Machine Tools and Control Systems (WSKL)（机械工具与控制系统教授职位）；Rheinland-Pfälzische Technische Universität (RPTU)（莱茵-瓦尔德技术大学）
STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
Department of Cybernetics, Czech Technical University in Prague（捷克技术大学布拉格分校控制学系）；Department of Power Generation Technologies and Materials, Ricerca sul Sistema Energetico S.p.A.（能源系统研究股份有限公司电力生成技术与材料学系）；Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science Faculty, University of Twente（代尔夫特理工大学机器人与机电学系，电气工程、数学与计算机科学学院）；Department of Computer, Control and Management Engineering, Sapienza University of Rome（罗马萨皮恩扎大学计算机、控制与管理工程系）
LiHRA: A LiDAR-Based HRI Dataset for Automated Risk Monitoring Methods
Proximity Robotics & Automation GmbH（近距机器人与自动化有限公司）；Institute of Industrial Automation and Software Engineering, University of Stuttgart（工业自动化与软件工程学院，斯图加特大学）
The Turkish Ice Cream Robot: Examining Playful Deception in Social Human-Robot Interactions
Department of Artificial Intelligence, Korea University（人工智能系，韩国大学）；Ingenuity Labs Research Institute and the Department of Electrical and Computer Engineering, Queen’s University（创新实验室研究机构和电气与计算机工程系，皇后大学）；Department of Artificial Intelligence, Yonsei University（人工智能系，延世大学）；Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学）
