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Human-Humanoid Collaborative Carrying
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DOI：10.1109/TRO.2019.2914350.png)
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Abstract
En 中文
This paper contributes to the field of physical human-robot collaboration. We present a complete control framework, which aims at making humanoid robots capable of carrying objects together with humans. First, we design a template identifying the primitive subtasks necessary for collaborative carrying. Then, these subtasks are formulated as constrained optimization problems for controlling the whole-body motion of a humanoid robot. The subtasks include two walking pattern generators that account for physical collaboration, as well as posture and grasping controllers. Finally, we validate our framework in a variety of collaborative carrying experiments, using the HRP-4 humanoid robot.
Keywords:
Humanoid robotics
physical human-robot interaction
task-space optimization control
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