Handing-over between human and self-moving tray

Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

We aim for realizing a robotic system that hands over necessary objects to a user as soon as he/she attempts to reach out for it. In this study, we adopt self-moving trays as robots. In order to hand the objects to the user, the system has to predict the user's hand movements and adapt to them. In this paper, we propose a method to predict durations and final positions of reaching movements of the user's hand. We apply the minimum jerk model to the prediction and estimate parameters of the model by using Levenberg-Marquardt method. A description of the experimental results demonstrates the usefulness of the method proposed here.

Original languageEnglish
Title of host publication18th IMEKO World Congress 2006
Subtitle of host publicationMetrology for a Sustainable Development
Pages1588-1593
Number of pages6
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event18th IMEKO World Congress 2006: Metrology for a Sustainable Development - Rio de Janeiro, Brazil
Duration: 2006 Sep 172006 Sep 22

Publication series

Name18th IMEKO World Congress 2006: Metrology for a Sustainable Development
Volume2

Conference

Conference18th IMEKO World Congress 2006: Metrology for a Sustainable Development
CountryBrazil
CityRio de Janeiro
Period06/9/1706/9/22

Keywords

  • Attentive workbench (AWB)
  • Handing-over
  • Human-robot interaction
  • Self-moving tray
  • The minimum jerk model

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Tamura, Y., Sugi, M., Ota, J., & Arai, T. (2006). Handing-over between human and self-moving tray. In 18th IMEKO World Congress 2006: Metrology for a Sustainable Development (pp. 1588-1593). (18th IMEKO World Congress 2006: Metrology for a Sustainable Development; Vol. 2).