Human-to-Robot Handover Based on Reinforcement Learning

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Abstract
This study explores manipulator control using reinforcement learning, specifically targeting anthropomorphic gripper-equipped robots, with the objective of enhancing the robots’ ability to safely exchange diverse objects with humans during human–robot interactions (HRIs). The study integrates an adaptive HRI hand for versatile grasping and incorporates image recognition for efficient object identification and precise coordinate estimation. A tailored reinforcement-learning environment enables the robot to dynamically adapt to diverse scenarios. The effectiveness of this approach is validated through simulations and real-world applications. The HRI hand’s adaptability ensures seamless interactions, while image recognition enhances cognitive capabilities. The reinforcement-learning framework enables the robot to learn and refine skills, demonstrated through successful navigation and manipulation in various scenarios. The transition from simulations to real-world applications affirms the practicality of the proposed system, showcasing its robustness and potential for integration into practical robotic platforms. This study contributes to advancing intelligent and adaptable robotic systems for safe and dynamic HRIs.
Funding Information
  • Ministry of Science and ICT (MSIT), Korea (IITP-2023-RS-2023-00266615, 5120200313836, No.RS-2022-00155911, 20015440, 20025094)
  • Ministry of Education of Korea (IITP-2023-RS-2023-00266615, 5120200313836, No.RS-2022-00155911, 20015440, 20025094)
  • Korea Government (MSIT) (IITP-2023-RS-2023-00266615, 5120200313836, No.RS-2022-00155911, 20015440, 20025094)
  • Ministry of Trade, Industry and Energy (MOTIE), South Korea (IITP-2023-RS-2023-00266615, 5120200313836, No.RS-2022-00155911, 20015440, 20025094)

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