{"id":"https://openalex.org/W7155003645","doi":"https://doi.org/10.1109/tase.2026.3685628","title":"Bi-Handover: A Unified Vision-Based Paradigm for Reliable Bidirectional Human\u2013Robot Object Handover","display_name":"Bi-Handover: A Unified Vision-Based Paradigm for Reliable Bidirectional Human\u2013Robot Object Handover","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7155003645","doi":"https://doi.org/10.1109/tase.2026.3685628"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3685628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3685628","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100570579","display_name":"Zhan Liu","orcid":"https://orcid.org/0000-0002-4345-2643"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhan Liu","raw_affiliation_strings":["Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4345-2643","affiliations":[{"raw_affiliation_string":"Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389366","display_name":"Ziwei Wang","orcid":"https://orcid.org/0000-0001-9225-8495"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering and the Perception and Embodied Intelligence (PINE) Laboratory, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-9225-8495","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering and the Perception and Embodied Intelligence (PINE) Laboratory, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075081538","display_name":"L Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Chen","raw_affiliation_strings":["Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4279-3892","affiliations":[{"raw_affiliation_string":"Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620306","display_name":"Jie Zhou","orcid":"https://orcid.org/0000-0001-7701-234X"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhou","raw_affiliation_strings":["Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7701-234X","affiliations":[{"raw_affiliation_string":"Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460385","display_name":"Jiwen Lu","orcid":"https://orcid.org/0000-0002-6121-5529"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiwen Lu","raw_affiliation_strings":["Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6121-5529","affiliations":[{"raw_affiliation_string":"Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50300222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"8622","last_page":"8633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.26589998602867126,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.26589998602867126,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.22460000216960907,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.08320000022649765,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/handover","display_name":"Handover","score":0.5473999977111816},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5414000153541565},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.3684999942779541},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.31360000371932983},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.2793999910354614}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6571000218391418},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.5473999977111816},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5414000153541565},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42419999837875366},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.3684999942779541},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3643999993801117},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2971000075340271},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28380000591278076},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2833999991416931},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.2793999910354614},{"id":"https://openalex.org/C95491727","wikidata":"https://www.wikidata.org/wiki/Q992968","display_name":"Mobile telephony","level":3,"score":0.2702000141143799},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3685628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3685628","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2438210826","display_name":null,"funder_award_id":"62321005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3510215249","display_name":null,"funder_award_id":"62125603","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8443129088","display_name":null,"funder_award_id":"62336004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8931551070","display_name":null,"funder_award_id":"2024YFB4708100","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1571132980","https://openalex.org/W2080441912","https://openalex.org/W2318055712","https://openalex.org/W2560609797","https://openalex.org/W2768683308","https://openalex.org/W2889969363","https://openalex.org/W2903857705","https://openalex.org/W2963033241","https://openalex.org/W2967099712","https://openalex.org/W2978956737","https://openalex.org/W3034891989","https://openalex.org/W3089045049","https://openalex.org/W3093162076","https://openalex.org/W3107825842","https://openalex.org/W3108449827","https://openalex.org/W3131514027","https://openalex.org/W3135049585","https://openalex.org/W3159489391","https://openalex.org/W3172917672","https://openalex.org/W3180172155","https://openalex.org/W3205994030","https://openalex.org/W3207187156","https://openalex.org/W4281252704","https://openalex.org/W4312268118","https://openalex.org/W4312284415","https://openalex.org/W4312648215","https://openalex.org/W4382366145","https://openalex.org/W4383066141","https://openalex.org/W4383066208","https://openalex.org/W4383108746","https://openalex.org/W4386071465","https://openalex.org/W4386071618","https://openalex.org/W4388874004","https://openalex.org/W4407552873","https://openalex.org/W4408358012"],"related_works":[],"abstract_inverted_index":{"Reliable":[0],"object":[1,23,53,85],"handover":[2,60,92,127,138],"between":[3],"humans":[4],"and":[5,22,30,87],"robots":[6],"represents":[7],"a":[8,46],"fundamental":[9],"capability":[10],"for":[11,36],"collaborative":[12],"robotic":[13],"systems.":[14],"However,":[15],"the":[16,84,101,121,131],"diversity":[17],"of":[18,103,139],"human":[19,65],"hand":[20,66],"poses":[21],"properties":[24],"often":[25],"leads":[26],"to":[27,68,124,134],"unstable":[28],"grasping":[29,71,75],"unsafe":[31],"interactions,":[32],"posing":[33],"significant":[34],"challenges":[35],"robust":[37],"human-robot":[38],"collaboration.":[39],"To":[40],"address":[41],"these,":[42],"we":[43],"propose":[44],"Bi-Handover,":[45],"novel":[47],"paradigm":[48],"that":[49,94,111],"enables":[50],"bidirectional,":[51],"reliable":[52,126,136],"transfer":[54],"by":[55,82],"constructing":[56],"stable,":[57],"safe":[58],"intermediate":[59,91,105],"states.":[61],"Our":[62],"framework":[63],"maps":[64],"postures":[67],"parallel":[69],"gripper":[70],"configurations":[72],"with":[73,116],"equivalent":[74],"capabilities.":[76],"The":[77],"diverse":[78],"grasp":[79,113],"patterns":[80],"employed":[81],"both":[83],"giver":[86],"receiver":[88],"generate":[89],"multiple":[90],"states":[93,106],"critically":[95],"determine":[96],"task":[97],"success.":[98],"We":[99],"evaluate":[100],"robustness":[102],"these":[104],"using":[107],"an":[108],"integrated":[109],"methodology":[110],"combines":[112],"stability":[114],"prediction":[115],"safety":[117],"quantification,":[118],"ultimately":[119],"selecting":[120],"optimal":[122],"state":[123],"ensure":[125],"performance.":[128],"Bi-Handover":[129],"is":[130],"first":[132],"approach":[133],"achieve":[135],"bidirectional":[137],"arbitrary":[140],"objects,":[141],"demonstrating":[142],"substantial":[143],"performance":[144],"gains":[145],"over":[146],"existing":[147],"baselines":[148],"through":[149],"extensive":[150],"experimental":[151],"validation.":[152]},"counts_by_year":[],"updated_date":"2026-05-04T06:00:05.808912","created_date":"2026-04-21T00:00:00"}