Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision

Résumé

In this paper, a first step is taken towards using vision in human-humanoid haptic joint actions. Haptic joint actions are characterized by physical interaction throughout the execution of a common goal. Because of this, most of the focus is on the use of force/torque-based control. However, force/torque information is not rich enough for some tasks. Here, a particular case is shown: height stabilization during table carrying. To achieve this, a visual servoing controller is used to generate a reference trajectory for the impedance controller. The control law design is fully described along with important considerations for the vision algorithm and a framework to make pose estimation robust during the table carrying task of the humanoid robot. We then demonstrate all this by an experiment where a human and the HRP-2 humanoid jointly transport a beam using combined force and vision data to adjust the interaction impedance while at the same time keeping the inclination of the beam horizontal.
Fichier principal
Vignette du fichier
IROS13_1656_FI.pdf (428.38 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

lirmm-00857659 , version 1 (03-09-2013)

Identifiants

Citer

Don Joven Agravante, Andrea Cherubini, Antoine Bussy, Abderrahmane Kheddar. Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision. IROS: Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. ⟨10.1109/IROS.2013.6697019⟩. ⟨lirmm-00857659⟩
497 Consultations
554 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More