Robot-human handover based on motion prediction of human

Abstract

This paper deals with a robot-human handover with the hand/arm robot. Handing over objects to humans is an important motion for assistant robots. In the robot-human handover, the robot has to predict the human motion and make a motion for hand over without disturbing human's works. Therefore, we propose a handover motion for the hand/arm robot according to the predicted human motion. The robot measures the position of human hand by the RealSense Camera and predicts destination of human hand. Then, the robot moves above the position of the predicted human hand.