Towards a Cooperative Framework for Interactive Manipulation Involving a Human and a Humanoid
In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human’s and the robot’s hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object. Illustrative experiments are performed to validate the proposed techniques.
Bruno Vilhena Adorno Ant(o)nio Padilha Lanari B(o) Philippe Fraisse Philippe Poignet
University of Montpellier 2 and the (LIRMM),UMR 5506 - CC 477 161 rue Ada,34392 Montpellier Cedex 5 LIRMM,UMR 5506 - CC 477 161 rue Ada,34392 Montpellier Cedex 5 - France
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3777-3783
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）