Planning Safe and Legible Hand-over Motions for Human-Robot Interaction

Human-Robot interaction brings new challenges to motion planning. The human, who is generally considered as an obstacle for the robot, needs to be considered as a separate entity that has a position, a posture, a field of view and an activity. These properties can be represented as new constraints to the motion generation mechanisms. In this paper we present three human related constraints to the motion planning for object hand over scenarios. We also describe a new planning method to consider these constraints. The resulting system automatically computes where the object should be transferred to the human, and the motion of the whole robot considering human's comfort