Handing-over between human and self-moving tray

Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai

Handing-over between human and self-moving tray

Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English
Title of host publication	18th IMEKO World Congress 2006
Subtitle of host publication	Metrology for a Sustainable Development
Pages	1588-1593
Number of pages	6
Publication status	Published - 2006 Dec 1
Externally published	Yes
Event	18th IMEKO World Congress 2006: Metrology for a Sustainable Development - Rio de Janeiro, Brazil Duration: 2006 Sept 17 → 2006 Sept 22

Publication series

Name	18th IMEKO World Congress 2006: Metrology for a Sustainable Development
Volume	2

Conference

Conference	18th IMEKO World Congress 2006: Metrology for a Sustainable Development
Country/Territory	Brazil
City	Rio de Janeiro
Period	06/9/17 → 06/9/22

Keywords

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

ASJC Scopus subject areas

Electrical and Electronic Engineering

Cite this

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title = "Handing-over between human and self-moving tray",

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.",

keywords = "Attentive workbench (AWB), Handing-over, Human-robot interaction, Self-moving tray, The minimum jerk model",

author = "Yusuke Tamura and Masao Sugi and Jun Ota and Tamio Arai",

year = "2006",

month = dec,

day = "1",

language = "English",

isbn = "9781622766468",

series = "18th IMEKO World Congress 2006: Metrology for a Sustainable Development",

pages = "1588--1593",

booktitle = "18th IMEKO World Congress 2006",

note = "18th IMEKO World Congress 2006: Metrology for a Sustainable Development ; Conference date: 17-09-2006 Through 22-09-2006",

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TY - GEN

T1 - Handing-over between human and self-moving tray

AU - Tamura, Yusuke

AU - Sugi, Masao

AU - Ota, Jun

AU - Arai, Tamio

PY - 2006/12/1

Y1 - 2006/12/1

N2 - 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.

AB - 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.

KW - Attentive workbench (AWB)

KW - Handing-over

KW - Human-robot interaction

KW - Self-moving tray

KW - The minimum jerk model

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M3 - Conference contribution

AN - SCOPUS:84877739946

SN - 9781622766468

T3 - 18th IMEKO World Congress 2006: Metrology for a Sustainable Development

SP - 1588

EP - 1593

BT - 18th IMEKO World Congress 2006

T2 - 18th IMEKO World Congress 2006: Metrology for a Sustainable Development

Y2 - 17 September 2006 through 22 September 2006

ER -

Handing-over between human and self-moving tray

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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