Human-Humanoid Collaborative Carrying

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.