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Communication Dans Un Congrès Année : 2020

Autonomous Initiation of 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 a humanoid robot needs to be developed in order to ensure efficient, intuitive and secure interaction between humanoid-assistant and human-patient. Here, we present a design and implementation of a whole-body controller that enables a humanoid robot with a mobile base to autonomously reach a person, perform audiovisual communication of intent, and establish several physical contacts for initiating physical assistance. 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 assess the developed controller on a healthy subject and report on the experiments achieved and the results.
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Dates et versions

hal-02615390 , version 1 (22-05-2020)
hal-02615390 , version 2 (27-07-2020)
hal-02615390 , version 3 (14-09-2020)

Identifiants

Citer

Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar. Autonomous Initiation of Human Physical Assistance by a Humanoid. RO-MAN 2020 - 29th IEEE International Conference on Robot and Human Interactive Communication, Aug 2020, Virtual, Italy. pp.857-862, ⟨10.1109/RO-MAN47096.2020.9223519⟩. ⟨hal-02615390v3⟩
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