Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2012

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

Antoine Bussy
  • Function : Author
  • PersonId : 938569
François Keith
  • Function : Author
  • PersonId : 938571
André Crosnier
  • Function : Author
  • PersonId : 938570

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.
Fichier principal
Vignette du fichier
2012-roman-hri-bci.pdf (252.75 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-00773403 , version 1 (13-01-2013)

Identifiers

Cite

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⟩
646 View
958 Download

Altmetric

Share

Gmail Facebook X LinkedIn More