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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01311154
Contributor : Andrea Cherubini <>
Submitted on : Wednesday, April 10, 2019 - 4:50:38 PM
Last modification on : Saturday, April 20, 2019 - 1:10:20 AM

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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, ⟨10.1177/ToBeAssigned⟩. ⟨lirmm-01311154v3⟩

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