Human-Humanoid Collaborative Carrying
| Autor: | Don Joven Agravante, Abderrahmane Kheddar, Alexander Sherikov, Andrea Cherubini, Pierre-Brice Wieber |
|---|---|
| Přispěvatelé: | Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), PAL Robotics, Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Joint Robotics Laboratory [Japan] (CNRS-AIST JRL), Centre National de la Recherche Scientifique (CNRS)-National Institute of Advanced Industrial Science and Technology (AIST), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Joint Robotics Laboratory (CNRS-AIST JRL ), National Institute of Advanced Industrial Science and Technology (AIST)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Task-space optimization control Computer science Physical Human-Robot Interaction 02 engineering and technology Motion (physics) Field (computer science) Computer Science Applications Variety (cybernetics) [SPI.AUTO]Engineering Sciences [physics]/Automatic Human and humanoid skills/interaction 020901 industrial engineering & automation Constrained optimization problem Humanoid robotics Control and Systems Engineering Human–computer interaction Task analysis [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Electrical and Electronic Engineering Humanoid robot |
| Zdroj: | IEEE Transactions on Robotics IEEE Transactions on Robotics, IEEE, In press, 35 (4), pp.833-846. ⟨10.1109/TRO.2019.2914350⟩ IEEE Transactions on Robotics, inPress, 35 (4), pp.833-846. ⟨10.1109/TRO.2019.2914350⟩ |
| ISSN: | 1552-3098 2374-958X 1941-0468 |
| Popis: | International audience; This paper contributes to the field of physical human-robot collaboration. We present a complete control framework, which aims at making humanoid robots capable of carrying objects together with humans. First, we design a template identifying the primitive subtasks necessary for collaborative carrying. Then, these subtasks are formulated as constrained optimization problems for controlling the whole-body motion of a humanoid robot. The subtasks include two walking pattern generators that account for physical collaboration, as well as posture and grasping controllers. Finally, we validate our framework in a variety of collaborative carrying experiments, using the HRP-4 humanoid robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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