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Journal Articles IEEE Transactions on Robotics Year : 2019

Human-Humanoid Collaborative Carrying


This paper contributes to the field of physical human-robot collaboration. We present a complete control framework, which aims at making humanoid robots capable of carrying objects together with humans. First, we design a template identifying the primitive subtasks necessary for collaborative carrying. Then, these subtasks are formulated as constrained optimization problems for controlling the whole-body motion of a humanoid robot. The subtasks include two walking pattern generators that account for physical collaboration, as well as posture and grasping controllers. Finally, we validate our framework in a variety of collaborative carrying experiments, using the HRP-4 humanoid robot.
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Dates and versions

lirmm-01311154 , version 1 (03-05-2016)
lirmm-01311154 , version 2 (27-11-2017)
lirmm-01311154 , version 3 (10-04-2019)



Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar. Human-Humanoid Collaborative Carrying. IEEE Transactions on Robotics, 2019, 35 (4), pp.833-846. ⟨10.1109/TRO.2019.2914350⟩. ⟨lirmm-01311154v3⟩
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