Human-Robot Cooperative Object Manipulation with Contact Changes

被引:0
|
作者
Gienger, Michael [1 ]
Ruiken, Dirk [1 ]
Bates, Tamas [1 ,2 ]
Regaieg, Mohamed [3 ]
Meissner, Michael [1 ,3 ]
Kober, Jens [2 ]
Seiwald, Philipp [3 ]
Hildebrandt, Arne-Christoph [3 ]
机构
[1] Honda Res Inst Europe, Offenbach, Germany
[2] Delft Univ Technol, Mekelweg 2, NL-2628 CD Delft, Netherlands
[3] Tech Univ Munich, Arcisstr 21, D-80333 Munich, Germany
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中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
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.
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收藏
页码:1354 / 1360
页数:7
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