Human-Humanoid Collaborative Carrying

Don Joven Agravante (1) , Andrea Cherubini (1) , Alexander Sherikov (2) , Pierre-Brice Wieber (3) , Abderrahmane Kheddar (4, 1)

1 IDH - Interactive Digital Humans
2 PAL Robotics
3 Inria Grenoble - Rhône-Alpes
4 CNRS-AIST JRL - Joint Robotics Laboratory

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.

Mots clés: Human and humanoid skills/interaction; Task-space optimization control; Humanoid robotics; Physical Human-Robot Interaction

Domaines: Robotique [cs.RO]; Automatique / Robotique

Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar. Human-Humanoid Collaborative Carrying. IEEE Transactions on Robotics, 2019, 35 (4), pp.833-846. ⟨10.1109/TRO.2019.2914350⟩. ⟨lirmm-01311154v3⟩