Human-Robot Cooperative Object Manipulation with Contact Changes
Michael Gienger, Dirk Ruiken, Tamas Bates, Mohamed Regaieg, Michael MeiBner, Jens Kober, Philipp Seiwald, Arne-Christoph Hildebrandt
Abstract
This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the cooperation including contact changes, and a novel architecture combining force interaction cues, interactive search-based planning, and online trajectory and motion generation. The resulting system implements a mixed initiative collaboration strategy, deferring to the human when his intentions are unclear, and driving the task once understood. This results in an easy and intuitive human-robot interaction. It is evaluated in simulations and on a bi-manual mobile robot with 32 degrees of freedom.
BibTeX
@inproceedings{iros2018_humanrobotcooper,
title = {Human-Robot Cooperative Object Manipulation with Contact Changes},
author = {Michael Gienger and Dirk Ruiken and Tamas Bates and Mohamed Regaieg and Michael MeiBner and Jens Kober and Philipp Seiwald and Arne-Christoph Hildebrandt},
booktitle = {IROS 2018},
year = {2018}
}