2019/10/14 by Tirupachuri, Yeshasvi, Nava, Gabriele, Rapetti, Lorenzo +2
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.1910.06786
Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a trajectory advancement approach that facilitates advancement along a reference trajectory by leveraging assistance from helpful interaction wrench present during human-robot collaboration. We validate our approach through experiments in simulation with iCub.