Robotic handover system natural for humans

A method comprising:

• determining assessment criteria data based on sensor data;
• filtering, by a processor, a list of candidate zones based on the assessment criteria data and a user preference to determine an object transfer pose describing how a robot is oriented for handover of an object to a user, the candidate zones including one or more points inside a user environment where the robot can place the object for handover to the user and the user preference including the user's preference for the object transfer pose;
• determining a user action after taking the object from the robot;
• determining whether to handover the object to the user based on the user action;
• and
• responsive to determining to handover the object to the user, begin actuation of the robot to handover the object to the user based on the object transfer pose.

A system comprising:

• a processor;
• and
• a tangible, non-transitory memory storing instructions that, when executed, cause the system to:
• determine assessment criteria data based on sensor data;
• filter a list of candidate zones based on the assessment criteria data to determine an object transfer pose describing how a robot is oriented for handover of an object to a user, the candidate zones including one or more points inside a user environment where the robot can place the object for handover to the user;
• determine a user action after taking the object from the robot based at least in part on an explicit input describing one or more motions of the user after taking the object from the robot;
• determine whether to handover the object to the user based on the user action;
• and
• responsive to determining to handover the object to the user, begin actuation of the robot to handover the object to the user based on the object transfer pose.