Towards partner-aware humanoid robot control under physical interactions

Yeshasvi Tirupachuri, Gabriele Nava, Claudia Latella, Diego Ferigo, Lorenzo Rapetti, Luca Tagliapietra, Francesco Nori, Daniele Pucci

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.

Original languageEnglish
Title of host publicationIntelligent Systems and Applications - Proceedings of the 2019 Intelligent Systems Conference IntelliSys Volume 2
EditorsYaxin Bi, Rahul Bhatia, Supriya Kapoor
PublisherSpringer Nature
Number of pages20
ISBN (Print)9783030295127
Publication statusPublished - 1 Jan 2020
EventIntelligent Systems Conference, IntelliSys 2019 - London, United Kingdom
Duration: 5 Sept 20196 Sept 2019

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


ConferenceIntelligent Systems Conference, IntelliSys 2019
Country/TerritoryUnited Kingdom


  • Humanoids
  • Physical human-robot interaction
  • Physical robot-robot interaction


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