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Pré-Publication, Document De Travail Année : 2020

Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications

Résumé

We present an opensource software interface, called mc naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers. We demonstrate the use of these tools in simulation for a robot interacting with a human model. Finally, we showcase and discuss the use of the developed opensource tools for running the human-robot close contact interaction experiments with real human subjects inspired from assistance scenarios.
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Dates et versions

hal-02919367 , version 1 (22-08-2020)
hal-02919367 , version 2 (14-09-2020)
hal-02919367 , version 3 (08-10-2020)

Identifiants

  • HAL Id : hal-02919367 , version 2

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Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications. 2020. ⟨hal-02919367v2⟩
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