We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers. We demonstrate the use of these tools in simulation for a robot interacting with a human model. Finally, we showcase and discuss the use of the developed open-source tools for running the human-robot close contact interaction experiments with real human subjects inspired from assistance scenarios.
Cite
@article{arxiv.2010.04573,
title = {Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications},
author = {Anastasia Bolotnikova and Pierre Gergondet and Arnaud Tanguy and Sébastien Courtois and Abderrahmane Kheddar},
journal= {arXiv preprint arXiv:2010.04573},
year = {2020}
}
Comments
IEEE/SICE 13th International Symposium on System Integration (SII 2021)