Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a trajectory advancement approach that facilitates advancement along a reference trajectory by leveraging assistance from helpful interaction wrench present during human-robot collaboration. We validate our approach through experiments in simulation with iCub.
@article{arxiv.1910.06786,
title = {Trajectory Advancement for Robot Stand-up with Human Assistance},
author = {Yeshasvi Tirupachuri and Gabriele Nava and Lorenzo Rapetti and Claudia Latella and Daniele Pucci},
journal= {arXiv preprint arXiv:1910.06786},
year = {2019}
}
Comments
Accepted to The first Italian Robotics and Intelligent Machines Conference (I-RIM 2019). arXiv admin note: substantial text overlap with arXiv:1907.13445