Principles of traditional animation applied to 3D computer animation
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
The EMOTE model for effort and shape
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
BEAT: the Behavior Expression Animation Toolkit
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Chi2: Feature Selection and Discretization of Numeric Attributes
TAI '95 Proceedings of the Seventh International Conference on Tools with Artificial Intelligence
Motion planning for hand-over between human and robot
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Nonverbal leakage in robots: communication of intentions through seemingly unintentional behavior
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Body movement analysis of human-robot interaction
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
HERB: a home exploring robotic butler
Autonomous Robots
Manipulation planning on constraint manifolds
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Cost-Based Anticipatory Action Selection for Human–Robot Fluency
IEEE Transactions on Robotics
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Robot-human hand-overs in non-anthropomorphic robots
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Meet me where i'm gazing: how shared attention gaze affects human-robot handover timing
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Deliberate delays during robot-to-human handovers improve compliance with gaze communication
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Timing in human-robot interaction
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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For robots to get integrated in daily tasks assisting humans, robot-human interactions will need to reach a level of fluency close to that of human-human interactions. In this paper we address the fluency of robot-human hand-overs. From an observational study with our robot HERB, we identify the key problems with a baseline hand-over action. We find that the failure to convey the intention of handing over causes delays in the transfer, while the lack of an intuitive signal to indicate timing of the hand-over causes early, unsuccessful attempts to take the object. We propose to address these problems with the use of spatial contrast, in the form of distinct hand-over poses, and temporal contrast, in the form of unambiguous transitions to the hand-over pose. We conduct a survey to identify distinct hand-over poses, and determine variables of the pose that have most communicative potential for the intent of handing over. We present an experiment that analyzes the effect of the two types of contrast on the fluency of hand-overs. We find that temporal contrast is particularly useful in improving fluency by eliminating early attempts of the human.