Human-Humanoid Haptic Joint Object Transportation Case Study

Antoine Bussy 1 Abderrahmane Kheddar 2, 1 André Crosnier 1 François Keith 1, 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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.
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Antoine Bussy, Abderrahmane Kheddar, André Crosnier, François Keith. Human-Humanoid Haptic Joint Object Transportation Case Study. IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.3633-3638, ⟨10.1109/IROS.2012.6385921⟩. ⟨lirmm-00773401⟩

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