Human-Humanoid Co-working in a Joint Table Transportation

Paul Evrard 1 Abderrahmane Kheddar 2
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We address the problem of programming a human-humanoid haptic joint action consisting in transporting an beam. For such tasks humanoid robots plan footsteps to walk while keeping balance and coordinating whole-body manipulation-locomotion. In order to achieve such tasks, we devised a method consisting in assembling in a task-based control framework, a reactive walking pattern generator with a footprint planning strategy mapped from robot force cues interpretation and a task kinematic constraint. This approach basically decouples locomotion from manipulation but uses several heuristics to well tune each independent task to work in conjunction with the other. Experiments conducted on a real HRP-2 humanoid robot assessed the method.
Type de document :
Communication dans un congrès
ICSR'2012: International Conference of Social Robotics, Oct 2012, Chengdu, China. Springer Berlin Heidelberg, 7621, pp.357-366, 2012, 〈http://icsoro.org/〉. 〈10.1007/978-3-642-34103-8_36〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781265
Contributeur : François Keith <>
Soumis le : vendredi 25 janvier 2013 - 17:45:23
Dernière modification le : jeudi 11 janvier 2018 - 06:27:07

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Paul Evrard, Abderrahmane Kheddar. Human-Humanoid Co-working in a Joint Table Transportation. ICSR'2012: International Conference of Social Robotics, Oct 2012, Chengdu, China. Springer Berlin Heidelberg, 7621, pp.357-366, 2012, 〈http://icsoro.org/〉. 〈10.1007/978-3-642-34103-8_36〉. 〈lirmm-00781265〉

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