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Human-Humanoid Collaborative Carrying

Abstract : 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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Contributor : Andrea Cherubini Connect in order to contact the contributor
Submitted on : Wednesday, April 10, 2019 - 4:50:38 PM
Last modification on : Tuesday, August 16, 2022 - 4:12:22 PM


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



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