Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications

被引：7

作者：

Bolotnikova, Anastasia ^{[1
,2
]}

Gergondet, Pierre ^{[4
]}

Tanguy, Arnaud ^{[3
]}

Courtois, Sebastien ^{[1
]}

Kheddar, Abderrahmane ^{[2
,3
,4
]}

机构：

[1] SoftBank Robot Europe, Paris, France

[2] Univ Montpellier, Interact Digital Humans, CNRS LIRMM, Montpellier, France

[3] CNRS AIST Joint Robot Lab, IRL 3218, Tsukuba, Ibaraki, Japan

[4] Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing, Peoples R China

来源：

2021 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) | 2021年

关键词：

MULTIROBOT;

D O I：

10.1109/IEEECONF49454.2021.9382685

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers. We demonstrate the use of these tools in simulation for a robot interacting with a human model. Finally, we showcase and discuss the use of the developed open-source tools for running the human-robot close contact interaction experiments with real human subjects inspired from assistance scenarios.

引用

页码：560 / 565

页数：6

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