Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller

Kazuya Otani (1) , Karim Bouyarmane (1) , Serena Ivaldi (1)

1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment

Human-humanoid collaborative tasks require that the robot take into account the goals of the task, interaction forces with the human, and its own balance. We present a formulation for a real-time humanoid controller which allows the robot to keep itself stable, while also assisting the human in achieving their shared objectives. This is achieved with a multi-robot quadratic program controller, which solves for human motion reconstruction and optimal robot controls in a single optimization problem. Our experiments on a simulated robot platform demonstrate the ability to generate interactions motions and forces that are similar to what a human collaborator would produce.

Domaines: Robotique [cs.RO]

Kazuya Otani, Karim Bouyarmane, Serena Ivaldi. Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller. ICRA 2018 - International Conference on Robotics and Automation, May 2018, Brisbane, Australia. ⟨hal-01590678v2⟩