Human-robot collaboration using HOAP3

The videos below illustrate a few results obtained in a series of human-robot collaboration experiment. All tasks were executed using the cooperative dual task-space framework proposed by Bruno Adorno and Philippe Fraisse. The setup included a HOAP3 humanoid robot, an easyTrack 500 optical tracking system, and real-time visualization.

The video accompanying the ICRA 2011 paper¹ is depicted below. In the paper, 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. 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, is also introduced.

You can find detailed info on the corresponding paper¹, as well as².

References

1.

Adorno, B. V., Bo, A. P. L., Fraisse, P. & Poignet, P. Towards a cooperative framework for interactive manipulation involving a human and a humanoid. in 2011 IEEE international conference on robotics and automation vol. 1 3777–3783 (IEEE, 2011).

2.

Adorno, B. V., Bo, A. P. L. & Fraisse, P. Kinematic modeling and control for human-robot cooperation considering different interaction roles. Robotica 33, 314–331 (2014).