Multi-contact Humanoid Posture Computation on Humans Point Cloud
Résumé
For robots to interact with human in close proximity safely and efficiently, a specialized method to compute whole-body robot posture and plan contact locations is required. In this work we focus on physical interaction between a robot and a human with intent to assist the human to realize a motion task. We propose a method for posture generation on an arbitrary point cloud and describe in detail its implementation and application in human robot interaction. The proposed method allows to plan whole-body posture and contact locations on a parametric NURBS surface, fitted on RGBD camera data of human body, under robot equilibrium, friction cone, torque/joint limits, collision avoidance, and assistance task inherent constraints. The proposed framework is capable to deal in a uniform fashion with any arbitrary point cloud, of various shapes any sizes, for autonomously planing the contact locations and interaction forces on potentially moving, movable, and deformable surfaces, which occur in direct physical human robot interaction. We conclude the paper with examples of posture generation for physical human-robot interaction scenarios.
Origine : Fichiers produits par l'(les) auteur(s)
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