Human to robot whole-body motion transfer
Visualitza/Obre
10.1109/HUMANOIDS47582.2021.9555769
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/366319
Tipus de documentText en actes de congrés
Data publicació2021
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
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Abstract
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel human to robot whole-body motion transfer framework. We propose a general solution to the correspondence problem, namely a mapping between the observed human posture and the robot one. For achieving real-time imitation and effective redundancy resolution, we use the whole-body control paradigm, proposing a specific task hierarchy, and present a differential drive control algorithm for the wheeled robot base. To ensure safe physical human-robot interaction, we propose a novel variable admittance controller that stably adapts the dynamics of the end-effector to switch between stiff and compliant behaviors. We validate our approach through several real-world experiments with the TIAGo robot. Results show effective real-time imitation and dynamic behavior adaptation. This constitutes an easy way for a non-expert to transfer a manipulation skill to an assistive robot.
Descripció
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CitacióArduengo, M. [et al.]. Human to robot whole-body motion transfer. A: IEEE-RAS International Conference on Humanoid Robots. "2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids): 19-21 July 2021". Institute of Electrical and Electronics Engineers (IEEE), 2021, p. 299-305. ISBN 978-1-7281-9372-4. DOI 10.1109/HUMANOIDS47582.2021.9555769.
ISBN978-1-7281-9372-4
Versió de l'editorhttps://ieeexplore.ieee.org/document/9555769
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2465-Human-to-Robot-Whole-Body-Motion-Transfer.pdf | 2,925Mb | Visualitza/Obre |