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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.
Cited literature [25 references]
https://hal.archives-ouvertes.fr/hal-01590678
Contributor : Serena Ivaldi <>
Submitted on : Wednesday, August 22, 2018 - 1:12:27 PM
Last modification on : Tuesday, December 18, 2018 - 4:40:22 PM
Contributor : Serena Ivaldi <>
Submitted on : Wednesday, August 22, 2018 - 1:12:27 PM
Last modification on : Tuesday, December 18, 2018 - 4:40:22 PM
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