Human-robot cooperative object manipulation with contact changes

Conference paper (2018)

Authors

Michael Gienger Honda Research Institute Europe
Dirk Ruiken Honda Research Institute Europe
T. Bates Honda Research Institute Europe, Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
Mohamed Regaieg Technische Universität München
M. Meibner Technische Universität München, Honda Research Institute Europe
J. Kober Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
Philipp Seiwald Technische Universität München
Arne Christoph Hildebrandt Technische Universität München
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2018 Michael Gienger, Dirk Ruiken, T. Bates, Mohamed Regaieg, M. Meibner, J. Kober, Philipp Seiwald, Arne Christoph Hildebrandt
DOI: https://doi.org/10.1109/IROS.2018.8594140
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Published Date

2018

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

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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