Human-robot cooperative object manipulation with contact changes
Michael Gienger (Honda Research Institute Europe)
Dirk Ruiken (Honda Research Institute Europe)
Tamas Bates (TU Delft - Mechanical Engineering, Honda Research Institute Europe)
Mohamed Regaieg (Technische Universität München)
M. Meibner (Technische Universität München, Honda Research Institute Europe)
Jens Kober (TU Delft - Mechanical Engineering)
Philipp Seiwald (Technische Universität München)
Arne Christoph Hildebrandt (Technische Universität München)
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Abstract
This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the cooperation including contact changes, and a novel architecture combining force interaction cues, interactive search-based planning, and online trajectory and motion generation. The resulting system implements a mixed initiative collaboration strategy, deferring to the human when his intentions are unclear, and driving the task once understood. This results in an easy and intuitive human-robot interaction. It is evaluated in simulations and on a bi-manual mobile robot with 32 degrees of freedom.