Towards Seamless Human-Robot Handovers

Abstract

A handover is a complex collaboration, where actors coordinate in time and space to transfer control of an object. This coordination comprises two processes: the physical process of moving to get close enough to transfer the object, and the cognitive process of exchanging information to guide the transfer. Despite this complexity, we humans are capable of performing handovers seamlessly in a wide variety of situations, even when unexpected. This suggests a common procedure that guides all handover interactions. Our goal is to codify that procedure.