# Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers

arXiv: https://arxiv.org/abs/2402.14525 · HTML: https://mlsanity.com/paper/2402.14525/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 22 references that are in the map.
- First posted on arXiv 22 Feb 2024.

## Builds on (most cited first, 3 of 3)

- [Convex optimization](https://mlsanity.com/paper/2106.01946/) (2021)
- [CVXPY: A Python-Embedded Modeling Language for Convex Optimization](https://mlsanity.com/paper/1603.00943/) (2016)
- [Object Handovers: a Review for Robotics](https://mlsanity.com/paper/2007.12952/) (2020)

## Abstract (arXiv)

Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human object handovers. We use a Hidden Semi-Markov Model (HSMM) to reactively generate suitable response trajectories for a robot based on the observed human partner's motion. The trajectories are adapted with task space constraints to ensure accurate handovers. Results from a pilot study show that our approach is perceived as more human--like compared to a baseline Inverse Kinematics approach.