Handover planning for every occasion

Ana Huaman Quispe, Heni Ben Amor, Mike Stilman

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

6 Scopus citations


In this paper we explore shared manipulation tasks involving collaboration between two agents: a bimanual manipulator and a movable humanoid. We propose a deterministic planner that outputs a handover pose for the object manipulated, the grasps to be used for both agents, and arm trajectories that allow the agents to reach, grasp, interchange and place the object at its final goal pose. Most existing approaches to shared manipulation assume that both participating agents are (or can be) positioned face-to-face. In this paper, we consider a more general set of scenarios in which the relative pose between agents is not tightly constrained to facing each other. To accomplish a successful interaction between the agents, careful planning must be done in order to select the best possible handover pose such that the movable agent should not need to move its torso, only its arm, to interact with the object. We present 3 simulation experiments with manipulation tasks performed by a bimanual fixed manipulator and a humanoid robot.

Original languageEnglish (US)
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781479971749
StatePublished - Feb 12 2015
Externally publishedYes
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: Nov 18 2014Nov 20 2014

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580


Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering


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