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Communication Dans Un Congrès Année : 2022

Human-Robot Handovers using Task-Space Quadratic Programming

Mohamed Djeha
Antonin Dallard
Ahmed Zermane
Pierre Gergondet
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Résumé

Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with three important aspects: (i) synchronized timing for the handing over phases; (ii) the handling of object pose constraints; and (iii) understanding the haptic exchanging to seamlessly achieve some steps of the (i). We propose a new approach for (i) and (ii) consisting in explicitly formulating the handover process as constraints in a task-space quadratic programming control framework to achieve implicit time and trajectory encounters. Our method is implemented on Panda robotic arm taking objects from a human operator.
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hal-03694798 , version 1 (14-06-2022)

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Mohamed Djeha, Antonin Dallard, Ahmed Zermane, Pierre Gergondet, Abderrahmane Kheddar. Human-Robot Handovers using Task-Space Quadratic Programming. RO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication, Aug 2022, Napoly, Italy. pp.518-523, ⟨10.1109/RO-MAN53752.2022.9900626⟩. ⟨hal-03694798⟩
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