HARMONIOUS - Human-like reactive motion control and multimodal perception for humanoid robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00376653" target="_blank" >RIV/68407700:21230/25:00376653 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/TRO.2024.3502216" target="_blank" >https://doi.org/10.1109/TRO.2024.3502216</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TRO.2024.3502216" target="_blank" >10.1109/TRO.2024.3502216</a>

Result language
angličtina
Original language name
HARMONIOUS - Human-like reactive motion control and multimodal perception for humanoid robots
Original language description
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of degrees of freedom (DoFs) while simultaneously considering dynamic obstacles and human proximity has still not been solved. In this article, we present a new reactive motion controller that commands two arms of a humanoid robot and three torso joints (17 DoF in total). We formulate a quadratic program that seeks joint velocity commands respecting multiple constraints while minimizing the magnitude of the velocities. We introduce a new unified treatment of obstacles that dynamically maps visual and proximity (precollision) and tactile (postcollision) obstacles as additional constraints to the motion controller, in a distributed fashion over the surface of the upper body of the iCub robot (with 2000 pressure-sensitive receptors). This results in a bioinspired controller that: first, gives rise to a robot with whole-body visuo-tactile awareness, resembling peripersonal space representations, and, second, produces human-like minimum jerk movement profiles. The controller was extensively experimentally validated, including a physical human–robot interaction scenario.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/GX20-24186X" target="_blank" >GX20-24186X: Whole-body awareness for safe and natural interaction: from brains to collaborative robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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