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arXiv · 1809.06165

Towards Partner-Aware Humanoid Robot Control Under Physical Interactions

Yeshasvi Tirupachuri·Gabriele Nava·Claudia Latella·Diego Ferigo·Lorenzo Rapetti·Luca Tagliapietra·Francesco Nori·Daniele Pucci
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Abstract

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.

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Yeshasvi Tirupachuri, Gabriele Nava, Claudia Latella, Diego Ferigo, Lorenzo Rapetti, Luca Tagliapietra, Francesco Nori, Daniele Pucci. 2019-03-20. Towards Partner-Aware Humanoid Robot Control Under Physical Interactions. https://arxiv.org/abs/1809.06165

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