Sébastien Courtois

2 accepted papers

2021

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar

RA-L 2021

We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify a human model torque control for optimal ex

Cited by 7 Source ↗Scholar ↗

2020

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar

RA-L 2020

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 f

Cited by 16 Source ↗Scholar ↗