Towards Partner-Aware Humanoid Robot Control Under Physical Interactions

• DOI: 10.48550/arxiv.1809.06165
• Publication Date: 2018-01-01
• Authors: Yeshasvi Tirupachuri; Gabriele Nava; Claudia Latella; Diego Ferigo; Lorenzo Rapetti; Luca Tagliapietra; Francesco Nori; Daniele Pucci
• Keywords: iCub

The topic of physical human-robot interaction received a lot attention from the robotics community because many promising application domains. However, studying between robot and an external agent, like human or another robot, without considering dynamics both systems may lead to short-comings in fully exploiting interaction. In this paper, we present coupled-dynamics formalism followed by sound approach helpful with humanoid robot. particular, propose first attempt define exploit help for accomplish specific task. As result, task-based partner-aware control techniques. theoretical results are validated conducting experiments two iCub robots involved