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Human-Humanoid Collaborative Carrying

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Abstract

In this article we present a complete control framework which aims at making humanoid robots capable of carrying objects together with humans. Firstly, we review collaborative carrying by creating a human-inspired taxonomy. From this taxonomy, we identify the required primitive subtasks. Next, these are formulated into constrained optimization problems for controlling the whole-body motion of a humanoid robot. The subtasks include two walking pattern generators that account for physical collaboration, as well as posture and grasping controllers. Finally, we validate our framework in a variety of collaborative human-robot carrying experiments, using HRP-4.
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Dates and versions

lirmm-01311154 , version 1 (03-05-2016)
lirmm-01311154 , version 2 (27-11-2017)
lirmm-01311154 , version 3 (10-04-2019)

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Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar. Human-Humanoid Collaborative Carrying. 2016. ⟨lirmm-01311154v2⟩
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