Towards a cooperative framework for interactive manipulation involving a human and a humanoid

Bruno Vilhena Adorno; Antônio Padilha Lanari Bó; Philippe Fraisse; Philippe Poignet

doi:10.1109/ICRA.2011.5979787

Towards a cooperative framework for interactive manipulation involving a human and a humanoid

Bruno Vilhena Adorno^*
, Antônio Padilha Lanari Bó
, Philippe Fraisse
, Philippe Poignet

^*Corresponding author for this work

EEE - Academic & Research

University of Montpellier

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. 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. We also introduce 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. Illustrative experiments are performed to validate the proposed techniques.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Publisher	IEEE
Pages	3777-3783
Number of pages	7
ISBN (Electronic)	9781612843858
ISBN (Print)	9781612843865
DOIs	https://doi.org/10.1109/ICRA.2011.5979787
Publication status	Published - 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	9/05/11 → 13/05/11

Keywords

Humans
Robot kinematics
Quaternions
Tracking
Interactive manipulation

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10.1109/ICRA.2011.5979787

Cite this

Adorno, B. V., Bó, A. P. L., Fraisse, P., & Poignet, P. (2011). Towards a cooperative framework for interactive manipulation involving a human and a humanoid. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 3777-3783). Article 5979787 (Proceedings - IEEE International Conference on Robotics and Automation). IEEE. https://doi.org/10.1109/ICRA.2011.5979787

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title = "Towards a cooperative framework for interactive manipulation involving a human and a humanoid",

abstract = "In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. 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. We also introduce 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. Illustrative experiments are performed to validate the proposed techniques.",

keywords = "Humans, Robot kinematics, Quaternions, Tracking, Interactive manipulation",

author = "Adorno, \{Bruno Vilhena\} and B{\'o}, \{Ant{\^o}nio Padilha Lanari\} and Philippe Fraisse and Philippe Poignet",

year = "2011",

doi = "10.1109/ICRA.2011.5979787",

language = "English",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "3777--3783",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

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}

Adorno, BV, Bó, APL, Fraisse, P & Poignet, P 2011, Towards a cooperative framework for interactive manipulation involving a human and a humanoid. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5979787, Proceedings - IEEE International Conference on Robotics and Automation, IEEE, pp. 3777-3783, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5979787

Towards a cooperative framework for interactive manipulation involving a human and a humanoid. / Adorno, Bruno Vilhena; Bó, Antônio Padilha Lanari; Fraisse, Philippe et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. IEEE, 2011. p. 3777-3783 5979787 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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T1 - Towards a cooperative framework for interactive manipulation involving a human and a humanoid

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AU - Bó, Antônio Padilha Lanari

AU - Fraisse, Philippe

AU - Poignet, Philippe

PY - 2011

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N2 - In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. 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. We also introduce 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. Illustrative experiments are performed to validate the proposed techniques.

AB - In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. 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. We also introduce 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. Illustrative experiments are performed to validate the proposed techniques.

KW - Humans

KW - Robot kinematics

KW - Quaternions

KW - Tracking

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PB - IEEE

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

Towards a cooperative framework for interactive manipulation involving a human and a humanoid

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Keywords

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