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

Kazuya Otani 1 Karim Bouyarmane 1 Serena Ivaldi 1
1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
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.
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Kazuya Otani, Karim Bouyarmane, Serena Ivaldi. Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller. ICRA 2018 - International Conference on Robotics and Automation, May 2018, Brisbane, Australia. ⟨hal-01590678v2⟩

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