Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer

Bolotnikoval, Anastasia; Courtois, Sébastien de; Kheddar, Abderrahmane

doi:10.1109/humanoids.2018.8624946

Cited by 7 publications

(9 citation statements)

References 16 publications

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“…Thus, the robot must be controlled to reach the person and established the contacts in closed-loop. In the continuation of our work, the robot's configuration, that is computed by our PG, will serve as a target for the closed-loop QP [32] controller, that will achieve the desired contacts and postures at best using online perception and measured contacts [33], [34]. In our controller, contacts will be made using guarded motion to absorb surface uncertainties.…”

Section: B Results Of Surface and Constraining Curve Fittingmentioning

confidence: 99%

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

Bolotnikova

Courtois

Kheddar

2020

IEEE Robot. Autom. Lett.

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For robots to interact with humans in close proximity safely and efficiently, a specialized method to compute whole-body robot posture and plan contact locations is required. In our work, a humanoid robot is used as a caregiver that is performing a physical assistance task. We propose a method for formulating and initializing a non-linear optimization posture generation problem from an intuitive description of the assistance task and the result of a human point cloud processing. The proposed method allows to plan whole-body posture and contact locations on a task-specific surface of a human body, under robot equilibrium, friction cone, torque/joint limits, collision avoidance, and assistance task inherent constraints. The proposed framework can uniformly handle any arbitrary surface generated from point clouds, for autonomously planing the contact locations and interaction forces on potentially moving, movable, and deformable surfaces, which occur in direct physical human-robot interaction. We conclude the paper with examples of posture generation for physical human-robot interaction scenarios.

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Section: B Results Of Surface and Constraining Curve Fittingmentioning

confidence: 99%

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

Bolotnikova

Courtois

Kheddar

2020

IEEE Robot. Autom. Lett.

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“…Once state time t I exceeds T I intent is considered to be successfully communicated and transition to the PreContact state is triggered. After robot prepares for a contact, appropriate joint residual signal [7], [8] is monitored in the MakeContact state, as robot is moving its end-effector towards the human body, to detect the time of the contact event. When all contact tasks are finished the experiment ends with RemoveContacts state and moving away.…”

Section: A Fsm Qp Controller Implementationmentioning

confidence: 99%

“…A visual human perception is used for closed loop navigation towards a human. The joint residual signal based contact detection is used to determine time of robot-human contact events [7], [8]. Verbal, visual and body language communication is included in the controller design to enable a robot to autonomously communicate its intentions to a human.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Initiation of Human Physical Assistance by a Humanoid

Bolotnikova

Courtois

Kheddar

2020

2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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We study the use of humanoid robot technology for physical assistance in motion for a frail person. A careful design of a whole-body controller for a humanoid robot needs to be developed in order to ensure efficient, intuitive and secure interaction between humanoid-assistant and human-patient.Here, we present a design and implementation of a wholebody controller that enables a humanoid robot with a mobile base to autonomously reach a person, perform audiovisual communication of intent, and establish several physical contacts for initiating physical assistance. Our controller uses (i) visual human perception as a feedback for navigation and (ii) joint residual signal based contact detection for closed-loop physical contact creation. We assess the developed controller on a healthy subject and report on the experiments achieved and the results.

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“…Several methods have been proposed to detect contacts, as seen in recent research [8], [9], [10], [11], [12]. There are also some works about the physical interaction between a humanoid and a human [13], [14], [15], [16]. When a humanoid robot interacts with a human, contact detection is required to prevent the human from being injured.…”

Section: Introductionmentioning

confidence: 99%

“…For position-based controlled robots also, both the force strength and the location of the contact points are required to generate wholebody compliant motion. Some previous research has achieved the contact detection and reaction with fixed-based robot manipulator [21], [22] or wheel-based humanoid [16].…”

Section: Introductionmentioning

confidence: 99%

Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot

Ito

Ayusawa

Yoshida

et al. 2019

2019 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)

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In this paper, we introduce a practical contact observer which allows detecting a contact on the body surface of a humanoid robot. Our method estimates the error force due to undesired contact. Then, contact detection (yes/no) is performed together with the estimation of the contact force and location. By comparing the real robot state according to sensory data with the desired state computed from the contact-free dynamics equation, we can estimate the external force applied to an unknown link. The link in contact is then detected by tracing the torque error along the robot's kinematic chain. Once the link in contact is determined, we can estimate the point where the contact force was applied by using the 3D geometric mesh model of a robot. The proposed method is validated through simulation and experiments using the humanoid robot HRP-4.

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Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer

Cited by 7 publications

References 16 publications

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

Autonomous Initiation of Human Physical Assistance by a Humanoid

Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot

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