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Robot, Pass Me the Tool: Handle Visibility Facilitates Task-oriented Handovers

on YouTube 10m
Talkat HRI 2022 · 2022-03-07..03-10· [robotics]

speakers

name:Valerio Ortenzi
links:none on file
name:Maija Filipovica
links:none on file
name:Diar Abdlkarim
links:none on file
name:Tommaso Pardi
links:none on file
name:Chie Takahashi
links:none on file
name:Alan Wing
links:none on file
name:Massimiliano Di Luca
links:none on file
name:Katherine J. Kuchenbecker
links:none on file

resources

video:https://youtu.be/D_gAKt-6I2s
slides:none on file

summary

A VR experiment tests whether making a tool’s handle visible speeds and improves handovers: using a physics-based simulator PrendoSim to precompute ~1,000 grasps per object, researchers sample 120 trials with 17 participants and three tools (hammer, screwdriver, scissors) and compute a pixel-based handle visibility metric (four bins, >80% = high). High visibility measurably lowers planning and execution time, reduces head and hand motion, increases handle grasps, and raises holdability and usability ratings.

AI-written summary · about

chapters (8)

  1. 0:00Intro
  2. 0:25Motivation
  3. 1:10Background
  4. 2:41Approach: Human Study in VR
  5. 4:36Object Presentations
  6. 6:20Participants, Metrics, and Statistics
  7. 7:14Objective Results
  8. 8:45Conclusion

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