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 Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner Antoine Bussy f7543b4f5767be7c05653a68473e641e lirmm.fr 938569 700002-938569 Pierre Gergondet a7681b00cfbe2d3ab82c26e916382729 aist.go.jp 935991 687377-935991 https://orcid.org/0000-0003-4925-2519 Abderrahmane Kheddar 89482b959651fa7c9ed69f14dd28bdb9 ibisc.univ-evry.fr kheddar-abderrahmane 176001 34447-176001 https://orcid.org/0000-0001-9033-9742 https://www.idref.fr/068911890 https://viaf.org/viaf/54369215 http://isni.org/isni/0000000001081325 François Keith 9ae12c429316704a28b8d132676f6d3b lirmm.fr 938571 700004-938571 André Crosnier 1cd18ec347a03506264e13411e4c349c lirmm.fr 938570 700003-938570 François Keith 17b707bca45c719fff1be36105ab450d lirmm.fr 2013-01-13 22:03:18 2025-08-13 03:07:44 2013-01-16 15:15:37 2012-09-09 2013-01-13 contributor François Keith 17b707bca45c719fff1be36105ab450d lirmm.fr CCSD lirmm-00773403 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00773403 bussy:lirmm-00773403 <i>Ro-Man'2012: International Symposium on Robot and Human Interactive Communication</i>, Sep 2012, Université de Versaille, France. pp.962-967, <a target="_blank" href="https://dx.doi.org/10.1109/ROMAN.2012.6343874">&#x27E8;10.1109/ROMAN.2012.6343874&#x27E9;</a> Ro-Man'2012: International Symposium on Robot and Human Interactive Communication, Sep 2012, Université de Versaille, France. pp.962-967, &#x27E8;10.1109/ROMAN.2012.6343874&#x27E9; HAL Authorization CNRS - Centre national de la recherche scientifique OpenAIRE Interactive Digital Humans Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Université de Montpellier (2015-2021) Joint Robotics Laboratory LUDOSCIENCE International No No Yes Yes Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner Antoine Bussy f7543b4f5767be7c05653a68473e641e lirmm.fr 938569 700002-938569 Pierre Gergondet a7681b00cfbe2d3ab82c26e916382729 aist.go.jp 935991 687377-935991 https://orcid.org/0000-0003-4925-2519 Abderrahmane Kheddar 89482b959651fa7c9ed69f14dd28bdb9 ibisc.univ-evry.fr kheddar-abderrahmane 176001 34447-176001 https://orcid.org/0000-0001-9033-9742 https://www.idref.fr/068911890 https://viaf.org/viaf/54369215 http://isni.org/isni/0000000001081325 François Keith 9ae12c429316704a28b8d132676f6d3b lirmm.fr 938571 700004-938571 André Crosnier 1cd18ec347a03506264e13411e4c349c lirmm.fr 938570 700003-938570 Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012-09-09 2012-09-13 Université de Versaille France IEEE/RSJ 962-967 2012-09-10 10.1109/ROMAN.2012.6343874 http://www.ro-man2012.org/ English remote control proactive behavior joystick human-robot dyad human partner haptic transportation complex transportation scenario HRP-2 humanoid robot telerobotics humanoid robots human-robot interaction Computer Science [cs]/Robotics [cs.RO] Conference papers Conference papers Conference papers

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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http://www.aist.go.jp/index_en.html 288533 FP7-ICT-2011-7 FP7-ICT-2011-7 ROBOHOW.COG Web-enabled and Experience-based Cognitive Robots that Learn Complex Everyday Manipulation Tasks 2012-01-02 2016-07-31