Name
Title | ||
|---|---|---|
Manual guidance of humanoid robots without force sensors: Preliminary experiments with NAO |
Abstract | ||
|---|---|---|
In this paper we propose a method to perform manual guidance with humanoid robots. Manual guidance is a general model of physical interaction: here we focus on guiding a humanoid by its hands. The proposed technique can be, however, used also for joint object transportation and other tasks implying human-humanoid physical interaction. Using a measure of the Instantaneous Capture Point, we develop an equilibrium-based interaction technique that does not require force/torque or vision sensors. It is, therefore, particularly suitable for low-cost humanoids and toys. The proposed method has been experimentally validated on the small humanoid NAO. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907003 | Robotics and Automation |
Keywords | DocType | Volume |
human-robot interaction,humanoid robots,legged locomotion,motion control,NAO,equilibrium-based interaction technique,human-humanoid physical interaction,humanoid robots,instantaneous capture point,manual guidance,object transportation | Conference | 2014 |
Issue | ISSN | Citations |
1 | 1050-4729 | 3 |
PageRank | References | Authors |
0.38 | 8 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Marco Bellaccini | 1 | 3 | 0.38 |
| Leonardo Lanari | 2 | 43 | 11.31 |
| Antonio Paolillo | 3 | 31 | 6.79 |
| Marilena Vendittelli | 4 | 408 | 29.31 |