Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner

Antoine Bussy 1 Pierre Gergondet 1, 2 Abderrahmane Kheddar 2, 1 François Keith 1 André Crosnier 1
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 complex transportation scenario jointly with a human partner. At first, the robot guesses the human partner's intentions to proactively participate to the task. In a second phase, the human-robot dyad switches roles: the robot takes over the leadership of the task to complete the scenario. During this last phase, the robot is remotely controlled with a joystick. The scenario is realized on a real HRP-2 humanoid robot to assess the overall approach.
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Antoine Bussy, Pierre Gergondet, Abderrahmane Kheddar, François Keith, André Crosnier. Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner. Ro-Man'2012: International Symposium on Robot and Human Interactive Communication, Sep 2012, Université de Versaille, France. pp.962-967, ⟨10.1109/ROMAN.2012.6343874⟩. ⟨lirmm-00773403⟩

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