Active robot motions and a Bayesian model on force responses detect firm human grasps at 97.5% success rate, over 30% above passive baselines, in tests with 12 people and 30 objects.
Towards autonomous robotic butlers: Lessons learned with the PR2
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Active Contact Sensing for Robust Robot-to-Human Object Handover
Active robot motions and a Bayesian model on force responses detect firm human grasps at 97.5% success rate, over 30% above passive baselines, in tests with 12 people and 30 objects.