2,981 research outputs found
Multi-contact Planning on Humans for Physical Assistance by Humanoid
International audienceFor robots to interact with humans in close proximity safely and efficiently, a specialized method to compute whole-body robot posture and plan contact locations is required. In our work, a humanoid robot is used as a caregiver that is performing a physical assistance task. We propose a method for formulating and initializing a non-linear optimization posture generation problem from an intuitive description of the assistance task and the result of a human point cloud processing. The proposed method allows to plan whole-body posture and contact locations on a task-specific surface of a human body, under robot equilibrium, friction cone, torque/joint limits, collision avoidance, and assistance task inherent constraints. The proposed framework can uniformly handle any arbitrary surface generated from point clouds, for autonomously planing the contact locations and interaction forces on potentially moving, movable, and deformable surfaces, which occur in direct physical human-robot interaction. We conclude the paper with examples of posture generation for physical human-robot interaction scenarios
Overcoming barriers and increasing independence: service robots for elderly and disabled people
This paper discusses the potential for service robots to overcome barriers and increase independence of
elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly
people and advances in technology which will make new uses possible and provides suggestions for some of these new
applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses
the complementarity of assistive service robots and personal assistance and considers the types of applications and
users for which service robots are and are not suitable
Becoming Human with Humanoid
Nowadays, our expectations of robots have been significantly increases. The robot, which was initially only doing simple jobs, is now expected to be smarter and more dynamic. People want a robot that resembles a human (humanoid) has and has emotional intelligence that can perform action-reaction interactions. This book consists of two sections. The first section focuses on emotional intelligence, while the second section discusses the control of robotics. The contents of the book reveal the outcomes of research conducted by scholars in robotics fields to accommodate needs of society and industry
Predictive and Robust Robot Assistance for Sequential Manipulation
This paper presents a novel concept to support physically impaired humans in
daily object manipulation tasks with a robot. Given a user's manipulation
sequence, we propose a predictive model that uniquely casts the user's
sequential behavior as well as a robot support intervention into a hierarchical
multi-objective optimization problem. A major contribution is the prediction
formulation, which allows to consider several different future paths
concurrently. The second contribution is the encoding of a general notion of
constancy constraints, which allows to consider dependencies between
consecutive or far apart keyframes (in time or space) of a sequential task. We
perform numerical studies, simulations and robot experiments to analyse and
evaluate the proposed method in several table top tasks where a robot supports
impaired users by predicting their posture and proactively re-arranging
objects
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