Leland Stanford Junior University

Etienne Chassaing

J Kenneth Salisbury, Jr

Elizabeth Bianchini

Prateek Verma

Systems and methods for facilitating handoffs between a robot and a counterpart in accordance with embodiments of the invention are illustrated. One embodiment includes a method for controlling a robot to handoff an object. The method includes steps for presenting an object to a receiver, moving an object to interrogate a grip stiffness of the receiver, and measuring a response to the moving using a set of one or more sensors. The method further includes steps for computing the grip stiffness of the receiver based on the measured response and determining whether to release the object based on the computed grip stiffness.

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Stanford, CA, United States of America

Etienne Chassaing