Specifying and Synthesizing Human-Robot Object Handovers

Cornell University, USA
January 2018 - Ongoing

Collaborators: Alap Kshirsagar (Cornell), Hadas Kress-Gazit (Cornell), and Guy Hoffman (Cornell).

In this project, we investigate human-robot handover controllers that are automatically synthesized from high-level specifications. In contrast to existing controllers, this approach can provide formal guarantees on the timing of each of the handover phases. Using synthesis also allows end-users to specify and dynamically change the robot’s behaviors using high-level requirements of goals and constraints rather than by tuning low-level controller parameters.


Publication: A. Kshirsagar, H. Kress-Gazit, and G. Hoffman, "Specifying and Synthesizing Human-Robot Handovers", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, 4-8 November 2019 Link



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