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Human-Humanoid Collaborative Carrying

人类人动物的合作的带

作     者:Agravante, Don Joven Cherubini, Andrea Sherikov, Alexander Wieber, Pierre-Brice Kheddar, Abderrahmane 

作者机构:Univ Montpellier CNRS LIRMM F-34090 Montpellier France IBM Res Tokyo 1030015 Japan Univ Montpellier CNRS LIRMM Interact Digital Human F-34090 Montpellier France PAL Robot Barcelona 08005 Spain Univ Grenoble Alpes INRIA F-38334 Grenoble France CNRS AIST Joint Robot Lab Tsukuba Ibaraki 3058568 Japan 

出 版 物:《IEEE TRANSACTIONS ON ROBOTICS》 (IEEE机器人学汇刊)

年 卷 期:2019年第35卷第4期

页      面:833-846页

核心收录:

学科分类:0808[工学-电气工程] 08[工学] 0811[工学-控制科学与工程] 

基  金:EU bpifrance PSPC ROMEO 2 National Project 

主  题:Humanoid robotics physical human-robot interaction task-space optimization control 

摘      要: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.

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