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Título: | Human to robot whole-body motion transfer |
Autor: | Arduengo, Miguel CSIC ORCID; Arduengo García, Ana CSIC; Colomé, Adrià CSIC ORCID ; Lobo-Prat, Joan CSIC ORCID; Torras, Carme CSIC ORCID | Fecha de publicación: | 2021 | Citación: | International Conference on Humanoid robots: 299-305 (2021) | Resumen: | Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel human to robot whole-body motion transfer framework. We propose a general solution to the correspondence problem, namely a mapping between the observed human posture and the robot one. For achieving real-time imitation and effective redundancy resolution, we use the whole-body control paradigm, proposing a specific task hierarchy, and present a differential drive control algorithm for the wheeled robot base. To ensure safe physical human-robot interaction, we propose a novel variable admittance controller that stably adapts the dynamics of the end-effector to switch between stiff and compliant behaviors. We validate our approach through several real-world experiments with the TIAGo robot. Results show effective real-time imitation and dynamic behavior adaptation. This constitutes an easy way for a non-expert to transfer a manipulation skill to an assistive robot. | Descripción: | Trabajo presentado en 20th International Conference on Humanoid Robots (Humanoids), celebrada de forma virtual del 19 al 21 de julio de 2021 | Versión del editor: | http://dx.doi.org/10.1109/HUMANOIDS47582.2021.9555769 | URI: | http://hdl.handle.net/10261/265027 | DOI: | 10.1109/HUMANOIDS47582.2021.9555769 | Identificadores: | doi: 10.1109/HUMANOIDS47582.2021.9555769 issn: 2164-0572 |
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2465-Human-to-Robot-Whole-Body-Motion-Transfer.pdf | 3 MB | Adobe PDF | Visualizar/Abrir |
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