Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator
| Autor: | Jérôme Truc, Daniel Sidobre, Rachid Alami |
|---|---|
| Přispěvatelé: | Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), ANR-18-CE33-0001,The_flying_coworker,L'équipier volant(2018), ANR-19-PI3A-0004,Future - PI3A, European Project: 731540,H2020,An.Dy(2017) |
| Jazyk: | angličtina |
| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | ACM/IEEE International Conference on Human-Robot Interaction (HRI 2023) ACM/IEEE International Conference on Human-Robot Interaction (HRI 2023), Mar 2023, Stockholm, Sweden. pp.122-126, ⟨10.1145/3568294.3580055⟩ |
| DOI: | 10.1145/3568294.3580055⟩ |
| Popis: | International audience; In this paper, we present a coordinated and reactive human-aware motion planner for performing a handover task by an autonomous aerial manipulator (AAM). We present a method to determine the final state of the AAM for a handover task based on the current state of the human and the surrounding obstacles. We consider the visual field of the human and the effort to turn the head and see the AAM as well as the discomfort caused to the human. We apply these social constraints together with the kinematic constraints of the AAM to determine its coordinated motion along the trajectory. |
| Databáze: | OpenAIRE |
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