Abstract
We address the problem of programming a human-humanoid haptic joint action consisting in transporting an beam. For such tasks humanoid robots plan footsteps to walk while keeping balance and coordinating whole-body manipulation-locomotion. In order to achieve such tasks, we devised a method consisting in assembling in a task-based control framework, a reactive walking pattern generator with a footprint planning strategy mapped from robot force cues interpretation and a task kinematic constraint. This approach basically decouples locomotion from manipulation but uses several heuristics to well tune each independent task to work in conjunction with the other. Experiments conducted on a real HRP-2 humanoid robot assessed the method.
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Evrard, P., Kheddar, A. (2012). Human-Humanoid Co-working in a Joint Table Transportation. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_36
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DOI: https://doi.org/10.1007/978-3-642-34103-8_36
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