Trajectory Advancement for Robot Stand-up with Human Assistance

Abstract

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.

Accepted to The first Italian Robotics and Intelligent Machines Conference (I-RIM 2019). arXiv admin note: substantial text overlap with arXiv:1907.13445