The advent of robots in our daily life depends on
their ability to navigate and intervene efficiently in our
environment. Whether considering household or industrial
applications, one of the most important functions they should
have is the ability to grasp and manipulate a large amount of
objects, tools and machines that can vary in form, size and
weight, but share the fact that they were designed for humans
and have functional elements, e.g. buttons or handles, fitted to
the human hand. The development of biologically inspired
anthropomorphic robotic hands thus appears as a natural
research path to allow robots replicating these activities. Such
devices however prove to be complex to design and control, and
they remain in practice limited to date to laboratory
experiments. They hardly reach a sufficient simplicity,
robustness and cost allowing for their widespread adoption in
our houses or factories and industrial robots still make use of
simple bi-digital grippers or dedicated tools which in turn
suffer a poor versatility. To overcome this situation, novel
dexterous grippers are required, that are sufficiently versatile
to adapt to various situations and objects yet simple enough
and cost effective. This compromise is however difficult to
achieve and the specification of such grippers is still an open
issue. This paper introduces a human-centered manual
interaction patterns analysis methodology that intends to
contribute to fill this gap. After a presentation of our approach,
we apply it in different contexts and show how it can be used to
orient a robotic gripper design that will fit given use-case
requirements.

Augmented Environment Representations with Complete Object Models

**Session Chairs: Ken Caluwaerts, Giorgio Nicola**

Session IX: Motion Planning and Navigation in Human-Centered Environments

technical paper

**31st IEEE International Conference on Robot & Human Interactive Communication**
 This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.
 
 The conference covers a wide range of topics related to Robot and Human Interactive Communication, involving theories, methodologies, technologies, empirical and experimental studies. Papers related to the study of robotic technology, psychology, cognitive science, artificial intelligence, human factors, ethics and policies, interaction-based robot design and other topics related to human-robot interaction are welcome.
 
 **CONFERENCE THEME:**
 Social, asocial, and antisocial robots
 
 Robots are starting to populate our lives: at work, in our homes, hotels, shops. However, not everybody is comfortable with robots finding a place in society. For example, people may be afraid that robots will replace humans in their jobs. This belief is exacerbated by the media that, on one side, raise expectations of robots’ capabilities, while amplifying fears and worries on the other side.
 
 In the next years, due to the increasing request for interaction with people in social environments, academic research and market analyses predict that robots will become more and more “social”. But, at the same time, robots may incur the risk of being perceived as “asocial” as their pervasiveness in everyday environments may become an obstacle to social interaction between humans. Or they may even be rejected as “antisocial” if researchers do not take care to develop robots that behave according to the customs and habits of the communities where they are expected to operate.
 
 To prevent this from happening, robotic researchers can no longer take the luxury of being mere technicians. They must be capable of addressing all the challenges raised by future robot-populated communities in a multidisciplinary way. They need to share their knowledge with the public to make people aware of what robots really are, what expectations we can have from them, the risks we may incur, and the possible mitigation plans.
 
 While being open to any kind of contribution related to Human-Robot Interactive Communication, the RO-MAN 2022 conference will emphasize these aspects of robotic research. How can we create robots capable of being welcomed as our assistants and companions in society while, at the same time, not being perceived as “asocial” or “antisocial?” How can we create robots perceived as facilitators of the natural development of human beings and communities, rather than obstacles?
 
 Contributions from different disciplines, not exclusively related to technological development, will be welcomed as crucial to pave the way to global acceptance of future robots with an informed attitude.
 
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IEEE RO-MAN 2022

31st IEEE International Conference on Robot & Human Interactive Communication
This conference is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed.

Francesco Verdoja

1

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Augmented Environment Representations with Complete Object Models

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