Skip to Main content Skip to Navigation
Conference papers

Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller

Abstract : — Human-humanoid collaborative tasks require that the robot take into account the goals of the task, interaction forces with the human, and its own balance. We present a formulation for a real-time humanoid controller which allows the robot to keep itself stable, while also assisting the human in achieving their shared objectives. This is achieved with a multi-robot quadratic program controller, which solves for human motion reconstruction and optimal robot controls in a single optimization problem. Our experiments on a simulated robot platform demonstrate the ability to generate interactions motions and forces that are similar to what a human collaborator would produce.
Document type :
Conference papers
Complete list of metadata

Cited literature [24 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01590678
Contributor : Karim Bouyarmane <>
Submitted on : Wednesday, September 20, 2017 - 5:43:15 AM
Last modification on : Tuesday, December 18, 2018 - 4:40:22 PM

File

Assistive.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01590678, version 1

Collections

Citation

Kazuya Otani, Karim Bouyarmane, Serena Ivaldi. Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller. IEEE-RAS Int. Conference on Robotics and Automation (ICRA), 2018, Brisbane, Australia. ⟨hal-01590678v1⟩

Share

Metrics

Record views

251

Files downloads

170