Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing
Identifieur interne : 000C21 ( Main/Exploration ); précédent : 000C20; suivant : 000C22Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing
Auteurs : Don Joven Agravante [France] ; Andréa Cherubini [France] ; Antoine Bussy [Japon] ; Pierre Gergondet [France] ; Abderrahmane Kheddar [France]Source :
English descriptors
Abstract
We propose a framework for combining vision and haptic information in human-robot joint actions. It consists of a hybrid controller that uses both visual servoing and impedance controllers. This can be applied to tasks that cannot be done with vision or haptic information alone. In this framework, the state of the task can be obtained from visual information while haptic information is crucial for safe physical interaction with the human partner. The approach is validated on the task of jointly carrying a flat surface (e.g. a table) and then preventing an object (e.g. a ball) on top from falling off. The results show that this task can be successfully achieved. Furthermore, the framework presented allows for a more collaborative setup, by imparting task knowledge to the robot as opposed to a passive follower.
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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></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Physical Human-Robot Interaction</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We propose a framework for combining vision and haptic information in human-robot joint actions. It consists of a hybrid controller that uses both visual servoing and impedance controllers. This can be applied to tasks that cannot be done with vision or haptic information alone. In this framework, the state of the task can be obtained from visual information while haptic information is crucial for safe physical interaction with the human partner. The approach is validated on the task of jointly carrying a flat surface (e.g. a table) and then preventing an object (e.g. a ball) on top from falling off. The results show that this task can be successfully achieved. Furthermore, the framework presented allows for a more collaborative setup, by imparting task knowledge to the robot as opposed to a passive follower.</div></front></TEI><affiliations><list><country><li>France</li><li>Japon</li></country></list><tree><country name="France"><noRegion><name sortKey="Agravante, Don Joven" sort="Agravante, Don Joven" uniqKey="Agravante D" first="Don Joven" last="Agravante">Don Joven Agravante</name></noRegion><name sortKey="Cherubini, Andrea" sort="Cherubini, Andrea" uniqKey="Cherubini A" first="Andréa" last="Cherubini">Andréa Cherubini</name><name sortKey="Gergondet, Pierre" sort="Gergondet, Pierre" uniqKey="Gergondet P" first="Pierre" last="Gergondet">Pierre Gergondet</name><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name></country><country name="Japon"><noRegion><name sortKey="Bussy, Antoine" sort="Bussy, Antoine" uniqKey="Bussy A" first="Antoine" last="Bussy">Antoine Bussy</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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