Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner
Identifieur interne : 002016 ( Main/Merge ); précédent : 002015; suivant : 002017Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner
Auteurs : Antoine Bussy [France] ; Pierre Gergondet [France] ; Abderrahmane Kheddar [Japon] ; François Keith [France] ; André Crosnier [France]Source :
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Abstract
In this paper, we propose a control scheme that allows a humanoid robot to perform a complex transportation scenario jointly with a human partner. At first, the robot guesses the human partner's intentions to proactively participate to the task. In a second phase, the human-robot dyad switches roles: the robot takes over the leadership of the task to complete the scenario. During this last phase, the robot is remotely controlled with a joystick. The scenario is realized on a real HRP-2 humanoid robot to assess the overall approach.
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DOI: 10.1109/ROMAN.2012.6343874
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34090 Montpellier</addrLine><country key="FR"></country></address><ref type="url">http://www.umontpellier.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic><idno type="DOI">10.1109/ROMAN.2012.6343874</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>HRP-2 humanoid robot</term><term>complex transportation scenario</term><term>haptic transportation</term><term>human partner</term><term>human-robot dyad</term><term>human-robot interaction</term><term>humanoid robots</term><term>joystick</term><term>proactive behavior</term><term>remote control</term><term>telerobotics</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, we propose a control scheme that allows a humanoid robot to perform a complex transportation scenario jointly with a human partner. At first, the robot guesses the human partner's intentions to proactively participate to the task. In a second phase, the human-robot dyad switches roles: the robot takes over the leadership of the task to complete the scenario. During this last phase, the robot is remotely controlled with a joystick. The scenario is realized on a real HRP-2 humanoid robot to assess the overall approach.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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