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Abstract
Task-aware robotic grasping is critical if robots are to successfully cooperate with humans. The choice of a grasp is multi-faceted; however, the task to perform primes this choice in terms of hand shaping and placement on the object. This grasping strategy is particularly important for a robot companion, as it can potentially hinder the success of the collaboration with humans. In this work, we investigate how different grasping strategies of a robot passer influence the performance and the perceptions of the interaction of a human receiver. Our findings suggest that a grasping strategy that accounts for the subsequent task of the receiver improves substantially the performance of the human receiver in executing the subsequent task. The time to complete the task is reduced by eliminating the need of a post-handover re-adjustment of the object. Furthermore, the human perceptions of the interaction improve when a task-oriented grasping strategy is adopted. The influence of the robotic grasp strategy increases as the constraints induced by the object's affordances become more restrictive. The results of this work can benefit the wider robotics community, with application ranging from industrial to household human-robot interaction for cooperative and collaborative object manipulation.
Highlights
Traditional factories have already seen a progressive introduction of robots in very structured production lines
To characterize the receiver’s reaching movement, we evaluated its duration as the time elapsed from the onset of the receiver’s arm movement toward the button until the contact with the object held by the robotic passer
For each object and participant, we evaluated the mean value of the reaching movement duration Treach over the three repetitions of each condition (Figure 2A)
Summary
Traditional factories have already seen a progressive introduction of robots in very structured production lines. Such environments are designed to allow complete repeatability of tasks, which is very beneficial to the deployment of traditional robots (Billard and Kragic, 2019). The design principles of Industry 4.0 are said to be inter-operability, information transparency, technical assistance, and decentralized decisions (Østergaard, 2017). From this perspective, robots are envisioned to share their working space and actively cooperate with human workers taking into account their needs.
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