论文标题
使用任务空间二次编程的人类机器人移交
Human-Robot Handovers using Task-Space Quadratic Programming
论文作者
论文摘要
人与机器人之间的双向对象移交可以在机器人以人为中心的制造或服务方面具有重要的功能技能。实现这一技能的问题在于任何解决方案的能力来处理三个重要方面：（i）交接阶段的同步时间； （ii）对象的处理构成约束； （iii）理解触觉交换以无缝地实现（i）的某些步骤。我们为（i）和（ii）提出了一种新方法，该方法包括在任务空间二次编程控制框架中明确提出移交过程作为约束，以实现隐式时间和轨迹相遇。我们的方法是在熊猫机器人手臂上实施的。
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with three important aspects: (i) synchronized timing for the handing over phases; (ii) the handling of object pose constraints; and (iii) understanding the haptic exchanging to seamlessly achieve some steps of the (i). We propose a new approach for (i) and (ii) consisting in explicitly formulating the handover process as constraints in a task-space quadratic programming control framework to achieve implicit time and trajectory encounters. Our method is implemented on Panda robotic arm taking objects from a human operator.
