抄録
In this paper, we develop a cartesian-coordinate handing-over robot system based on analyses of hand trajectory and voice utterance. The handing-over robot system hands over an object to a human accompanied by a voice greeting. In this handing-over robot system, a hand-over motion is generated based on analyses of human hand-over motions. In particular, the timing between voice utterances and release motions of humans is analyzed. Then, the robot system generates the release motion in response to a voice utterance from a human. Furthermore, using the handing-over robot system, the timing between the voice utterances and the release motions and a number of axes in order to generate a handing-over motion which is preferred by humans are analyzed by sensory evaluation.
