Abstract:This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100-200 N) within a very short time (2-8 s), posing significant challenges in terms of human unpredictability and robot stability control. To address these challenges, we propose an approach for finding a spatial reference for the robot, which allows the robot to move according to the force exerted by the human and control its s… Show more
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