Handing-over model-free objects to human hand with the help of vision/force robot control

Handing-over objects from robot to humans is essential step to perform different tasks especially those requiring physical interaction between the robot and the human, e.g. service robots can help elderly, blind and disabled people or human-robot teamwork could work together in factories. This work will propose a new robot system which combines visual servoing and force control in order to hand over model-free objects from undefined place to human hand. This work will present: 1. vision algorithms which help the robot system to detect and to segment the objects without any information about their model. 2. The possibility for visual tracking of human hand with the help of Kinect camera. 3. The importance of fusion vision and force control in order to ensure the safety during the human-robot interaction. 4. How the robot will deliver the objects to the human hand with the help of vision and force control. This work will be supported with experimental results.