Autonomous Approach to Human Physical Assistance by a Humanoid
Résumé
We study the use of humanoid robot technology for physical assistance in motion for a frail person. A careful design of a whole-body controller for humanoid robot needs to be developed in order to ensure efficient, intuitive and secure interaction between humanoid-assistant and human-patient. In this work, we present a design and implementation of a whole-body controller that enables a humanoid robot with mobile base to autonomously reach a person, perform audiovisual communication of intent, and establish several physical contacts for initiating an assistance in a given human motion. Our controller uses (i) visual human perception as a feedback for navigation and (ii) joint residual signal based contact detection for closed-loop physical contact creation. We assessed the developed controller on a healthy subject and report on the experiments achieved and the results.
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