Trajectory Advancement during Human-Robot Collaboration

Abstract

As technology advances, the barriers between the co-existence of humans and robots are slowly coming down. The prominence of physical interactions for collaboration and cooperation between humans and robots will be an undeniable fact. Rather than exhibiting simple reactive behaviors to human interactions, it is desirable to endow robots with augmented capabilities of exploiting human interactions for successful task completion. Towards that goal, in this paper, we propose a trajectory advancement approach in which we mathematically derive the conditions that facilitate advancing along a reference trajectory by leveraging assistance from helpful interaction wrench present during human-robot collaboration. We validate our approach through experiments conducted with the iCub humanoid robot both in simulation and on the real robot.

Human-Humanoid Interaction and Cooperation: a Review

“…The QP formulation provides extreme flexibility in the choice of the type of control, allowing one to solve inverse kinematics [30], inverse dynamics [31], or momentumbased [27] control problems for both position-controlled and torque-controlled humanoid robots.…”

“…Early works proposed separation of tasks: impedance-based upper body manipulation with lower body balancing [35]. However, this solution is not well suited for bipedal walking under physical interactions and whole-body control is better suited [31].…”

Simultaneous haptic guidance and learning of task parameters during robotic teleoperation – a geometrical approach

“…This approach is not well adapted to the present case, since the user continuously manipulates the interface and could disagree with such imposed motion. Although methods to stop the advancement [16] or adjust it [17] have been proposed, they lack the interactivity required for teleoperation.…”

Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization

“…Additionally, we discuss robot ergonomics in terms of efficient energy consumption, and two concurrent ergonomic metrics are proposed, here referred to as force ergonomics and postural ergonomics. The proposed approach extends and encompasses the partner-aware approach proposed in [27], [28], where the partner actions are exploited in an unidirectional way. Differently from previous works, we propose a bidirectional optimization of the agents action thanks to a centralized control, and coupled system dynamics modelling.…”