Human-humanoid haptic joint object transportation case study
In this paper, we propose a control scheme that allows a humanoid robot to perform a transportation task jointly with a human partner. From the study of how human dyads achieve such a task, we have developed a control law for physical interaction that unifies standalone and collaborative (leader and...
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| creator | Bussy, A. Kheddar, A. Crosnier, A. Keith, F. |
| description | In this paper, we propose a control scheme that allows a humanoid robot to perform a transportation task jointly with a human partner. From the study of how human dyads achieve such a task, we have developed a control law for physical interaction that unifies standalone and collaborative (leader and follower) modes for trajectory-based tasks. We present it in the case of a linear impedance controller but it can be generalized to more complex impedances. Desired trajectories are decomposed into sequences of elementary motion primitives. We implemented this model with a Finite State Machine associated with a reactive pattern generator. First experiments conducted on a real HRP-2 humanoid robot assess the overall approach. |
| doi_str_mv | 10.1109/IROS.2012.6385921 |
| format | Conference Proceeding |
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| ispartof | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p.3633-3638 |
| issn | 2153-0858 2153-0866 |
| language | eng |
| recordid | cdi_ieee_primary_6385921 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Collaboration Computer Science Force Humans Robot kinematics Robotics Trajectory Transportation |
| title | Human-humanoid haptic joint object transportation case study |
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