Cleaning up
Bimanual fixture
Assisted
grasping
Collaborator interaction
1.Cue person to hand the box
2.Detect contact cue during hand-off
3.Form bimanual grasp
4.Track person as they move
5.Position box near the person as items are placed in it
6.Lower the box onto the table
ÒDomo, boxÓ
ÒDomo, doneÓ