Vision based robot-to-robot object handover

This work deals with an autonomous robot-to-robot object handover in the presence of uncertainties. Both the giver and receiver robots are equipped with an hand-in-eye depth camera and a deep learning based approach is adopted for detecting the presence of the object. The physical exchange is performed by recurring to an estimate of the contact forces and an impedance control, which allows the receiver robot to perceive the presence of the object and the giver one to recognize that the handover is complete