A unified multimodal control framework for human–robot interaction

Andrea Cherubini 1 Robin Passama 1 Philippe Fraisse 1 André Crosnier 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In human–robot interaction, the robot controller must reactively adapt to sudden changes in the environment (due to unpredictable human behaviour). This often requires operating different modes, and managing sudden signal changes from heterogeneous sensor data. In this paper, we present a multimodal sensor-based controller, enabling a robot to adapt to changes in the sensor signals (here, changes in the human collaborator behaviour). Our controller is based on a unified task formalism, and in contrast with classical hybrid visicn–force–position control, it enables smooth transitions and weighted combinations of the sensor tasks. The approach is validated in a mock-up industrial scenario, where pose, vision (from both traditional camera and Kinect), and force tasks must be realized either exclusively or simultaneously, for human–robot collaboration.
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Article dans une revue
Robotics and Autonomous Systems, Elsevier, 2015, 70, pp.106-115. 〈10.1016/j.robot.2015.03.002〉
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Andrea Cherubini, Robin Passama, Philippe Fraisse, André Crosnier. A unified multimodal control framework for human–robot interaction. Robotics and Autonomous Systems, Elsevier, 2015, 70, pp.106-115. 〈10.1016/j.robot.2015.03.002〉. 〈lirmm-01222976〉

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