Motion planning for human-robot interaction in manipulation tasks

Abstract

Abstract-This paper presents a motion planner to automatically compute animations for virtual (human, humanoid or robot) mannequins cooperating to move bulky objects in cluttered environments. The main challenge is to deal with 3D collision avoidance while preserving the believability of the agents behaviors. To accomplish the coordinated task, a geometric and kinematic decoupling of the system is proposed. This decomposition enables us to plan a collisionfree path for a reduced system, then to animate locomotion and grasping behaviors in parallel, and finally to clean up the animation from residual collisions. These three steps are automatically applied making use of different techniques such as probabilistic path planning, locomotion controllers, inverse kinematics and path planning for closed-kinematic mechanisms.

Rapid Prototyping of Planning, Learning and Control in Physical Human-Robot Interaction

“…For simplicity in this work we assume that a human partner and a robot control their posture such that they keep a constant configuration relative to the table on the two-dimensional ground plane (x 0 ,y 0 ). Aspects of approximation of person-object-robot representations for motion planning are discussed in [5]. We assume a robotic assistant is feedback-controlled such that the commonly manipulated object follows a virtual object impedance that is rendered with inertia matrix M, and virtual viscous friction D.…”

Towards Ergonomic Control of Collaborative Effort in Multi-human Mobile-robot Teams

“…standards, e.g., ISO/TS 15066 [7]) or accidental collision avoidance [8], [9]. As a result, collaborative robots of today mostly 'co-exist' with human partners, and do not provide a personalised level of assistance.…”

A Synergistic Approach to the Real-Time Estimation of the Feet Ground Reaction Forces and Centers of Pressure in Humans With Application to Human–Robot Collaboration

“…To successfully introduce robotic systems into human environments, safety considerations are among the key factors to be addressed [3]. Collision avoidance [4], [5] and impact force control approaches [6], [7], are among the most common strategies to guarantee safety in HRC, due to the underlying physical interactions between the humans and the robots [8]. Nevertheless, it is worth noticing that musculoskeletal disorders (MSD) are the single largest category of work-related diseases in many industrial countries [9], and impose extremely large costs each year in lost productivity and absence due to sickness.…”