Robust and Context-Aware Real-Time Collaborative Robot Handling via Dynamic Gesture Commands

This letter studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling commands is useful when needs to avoid direct contact with or handled by robot. However, key challenge lies in heterogeneity behaviors and stochasticity perception of gestures, which requires handling policy be adaptable robust. To address these challenges, we introduce Conditional Collaborative Handling Process (CCHP) encode a context-aware procedure learn such from human-human collaboration. We thoroughly evaluate adaptability robustness CCHP apply our approach assembly task Kinova Gen3 arm. Results show that method leads significantly less effort smoother human-robot collaboration than state-of-the-art rule-based even first-time users.