机器人在用户视线外完成安全交接，无需人工干预。
Compliant Blind Handover Control for Human-Robot Collaboration
- 通过视觉与力控融合感知，自动判断交接时机与位置。
- 确保物体交接时对人手无冲击，实现零碰撞安全交互。
- 适合工业协作场景中需专注操作的高危任务
本文提出一种面向人机协作（HRC）中的盲交接架构，聚焦于操作者因专注任务而背对机器人、需从机器人获取物品的场景。在此情境下，机器人必须自主完成整个交接过程。核心挑战包括：在不触碰人体的情况下将物体递送至操作者手中，以及准确判断释放时机。文章探讨了应对这些挑战的策略，强调机器人在实现盲交接时需具备自主性与安全性，从而推动人机协作协议的发展，促进人机之间自然、高效的协同工作。
原文摘要 · Abstract (English)
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires an object from the robot. In this context, it is imperative for the robot to autonomously manage the entire handover process. Key considerations include ensuring safety while handing the object to the operator's hand, and detect the proper timing to release the object. The article explores strategies to navigate these challenges, emphasizing the need for a robot to operate safely and independently in facilitating blind handovers, thereby contributing to the advancement of HRC protocols and fostering a natural and efficient collaboration between humans and robots.
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