相手の動力学を考慮したヒューマノイドロボットの物理インタラクション制御
Towards Partner-Aware Humanoid Robot Control Under Physical Interactions
人間や他のロボットとの物理的相互作用を、双方の動力学を結合したモデルで扱い、相手の助けを活用するタスクベースの制御手法を提案し、2台のiCubで実証した。
著者: Yeshasvi Tirupachuri, Gabriele Nava, Claudia Latella, Diego Ferigo, Lorenzo Rapetti, Luca Tagliapietra, Francesco Nori, Daniele Pucci
分類: cs.RO
原文アブストラクト
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human or another robot, without considering the dynamics of both the systems may lead to many short-comings in fully exploiting the interaction. In this paper, we present a coupled-dynamics formalism followed by a sound approach in exploiting helpful interaction with a humanoid robot. In particular, we propose the first attempt to define and exploit the human help for the robot to accomplish a specific task. As a result, we present a task-based partner-aware robot control techniques. The theoretical results are validated by conducting experiments with two iCub humanoid robots involved in physical interaction.
