Human-Humanoid Collaborative Carrying - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Preprints, Working Papers, ... Year : 2016

Human-Humanoid Collaborative Carrying

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.
Fichier principal
Vignette du fichier
2015-ijrr-agravante.pdf (7.3 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

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

Identifiers

Cite

Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar. Human-Humanoid Collaborative Carrying. 2016. ⟨lirmm-01311154v1⟩
969 View
1591 Download

Altmetric

Share

Gmail Facebook X LinkedIn More