The CoDyCo Project achievements and beyond: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction - Université de Lorraine Accéder directement au contenu
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2017

The CoDyCo Project achievements and beyond: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction

Francesco Romano
Daniele Pucci
  • Fonction : Auteur
  • PersonId : 990193

Résumé

The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviours and intentions is necessary. In this paper we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.
Fichier principal
Vignette du fichier
codyco_RAL.pdf (3.68 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01620789 , version 1 (21-10-2017)

Identifiants

Citer

Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, et al.. The CoDyCo Project achievements and beyond: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction. IEEE Robotics and Automation Letters, 2017, ⟨10.1109/LRA.2017.2768126⟩. ⟨hal-01620789⟩
404 Consultations
193 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More