@inproceedings{033b95f0c206406c88b7a29738cfb06d,
title = "Towards partner-aware humanoid robot control under physical interactions",
abstract = "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.",
keywords = "Humanoids, Physical human-robot interaction, Physical robot-robot interaction",
author = "Yeshasvi Tirupachuri and Gabriele Nava and Claudia Latella and Diego Ferigo and Lorenzo Rapetti and Luca Tagliapietra and Francesco Nori and Daniele Pucci",
year = "2020",
month = jan,
day = "1",
doi = "10.1007/978-3-030-29513-4_78",
language = "English",
isbn = "9783030295127",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Nature",
pages = "1073--1092",
editor = "Yaxin Bi and Rahul Bhatia and Supriya Kapoor",
booktitle = "Intelligent Systems and Applications - Proceedings of the 2019 Intelligent Systems Conference IntelliSys Volume 2",
address = "United States",
note = "Intelligent Systems Conference, IntelliSys 2019 ; Conference date: 05-09-2019 Through 06-09-2019",
}