YuMi, Come and Play with Me! A Collaborative Robot for Piecing Together a Tangram Puzzle

Human-robot collaboration is a novel hot topic in robotics research opening a broad range of new opportunities. However, the number of sensible and efficient use cases having been presented and analysed in literature is still very limited. In this technical article, we present and evaluate a collaborative use case for a gaming application in which a two-arm robot has to piece a Tangram puzzle together with a human partner. Algorithms and methods employed for this purpose are presented, performance rates are given for different setups, and remaining problems and future developments are outlined.