Human-Humanoid Collaborative Carrying

Don Joven Agravante 1 Andrea Cherubini 1 Alexander Sherikov 2 Pierre-Brice Wieber 2 Abderrahmane Kheddar 3, 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : In this article we present a complete control framework which aims at making humanoid robots capable of carrying objects together with humans. Firstly, we review collaborative carrying by creating a human-inspired taxonomy. From this taxonomy, we identify the required primitive subtasks. Next, these are formulated into 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 human-robot carrying experiments, using HRP-4.
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Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar. Human-Humanoid Collaborative Carrying. 2016. ⟨lirmm-01311154v1⟩

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