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...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Bussy, A., Kheddar, A., Crosnier, A., Keith, F.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Collaboration Computer Science Force Humans Robot kinematics Robotics Trajectory Transportation
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