版权所有:内蒙古大学图书馆 技术提供:维普资讯• 智图
内蒙古自治区呼和浩特市赛罕区大学西街235号 邮编: 010021
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.