A Samuel

B Reily

C Latella

DP Losey

DP McMullen

E Cho

F Nori

F Romano

G Metta

JE Marsden

L Natale

L Peternel

MA Goodrich

P Donner

R Featherstone

R Song

S Ikemoto

S-H Hyon

SS Rautaray

T Koolen

W Khalil

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

Tirupachuri, Yeshasvi

Nava, Gabriele

Latella, Claudia

Ferigo, Diego

Rapetti, Lorenzo

Tagliapietra, Luca

Nori, Francesco

Pucci, Daniele

The University of Manchester - Institutional Repository

Towards partner-aware humanoid robot control under physical interactions

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Towards Partner-Aware Humanoid Robot Control Under Physical Interactions

Towards partner-aware humanoid robot control under physical interactions

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The University of Manchester - Institutional Repository

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