ICRA 2011

Posted on May 20, 2011 by fraisse

ICRA 2011: Towards a Cooperative Framework for Interactive Manipulation Involving a Human and a Humanoid

  • [PDF] [DOI] B. V. Adorno, A. P. L. Bo, P. Fraisse, and P. Poignet. Towards a cooperative framework for interactive manipulation involving a human and a humanoid. In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages 3777-3783, may 2011.
    [Bibtex] 
    @INPROCEEDINGS{2011-icra-bva,
author={Adorno, B.V. and Bo, A.P.L. and Fraisse, P. and Poignet, P.},
booktitle={Robotics and Automation (ICRA), 2011 IEEE International Conference on}, title={Towards a cooperative framework for interactive manipulation involving a human and a humanoid},
year={2011},
month={may},
volume={},
number={},
pages={3777 -3783},
keywords={iros, cooperative framework;human hand;humanoid robot hand;interactive manipulation;mirrored movement;simultaneous handling;force control;human-robot interaction;humanoid robots;interactive systems;manipulators;service robots;},
doi={10.1109/ICRA.2011.5979787},
ISSN={1050-4729}
}
We propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human’s and the robot’s hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object. Illustrative experiments are performed to validate the proposed techniques.

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