The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction
Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni
Abstract
The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviors and intentions is necessary. In this letter, we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.
BibTeX
@inproceedings{ral2018_thecodycoproject,
title = {The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction},
author = {Francesco Romano and Gabriele Nava and Morteza Azad and Jernej Camernik and Stefano Dafarra and Oriane Dermy and Claudia Latella and Maria Lazzaroni and Ryan Lober and Marta Lorenzini and Daniele Pucci and Olivier Sigaud and Silvio Traversaro and Jan Babic and Serena Ivaldi and Michael N. Mistry and Vincent Padois and Francesco Nori},
booktitle = {RA-L 2018},
year = {2018}
}