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      Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications

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          Abstract

          We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers. We demonstrate the use of these tools in simulation for a robot interacting with a human model. Finally, we showcase and discuss the use of the developed open-source tools for running the human-robot close contact interaction experiments with real human subjects inspired from assistance scenarios.

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          Author and article information

          Journal
          09 October 2020
          Article
          2010.04573
          2a3715ab-a7d1-4415-8f9a-f4ba403f58a5

          http://creativecommons.org/licenses/by-nc-sa/4.0/

          History
          Custom metadata
          IEEE/SICE 13th International Symposium on System Integration (SII 2021)
          cs.RO cs.HC

          Robotics,Human-computer-interaction
          Robotics, Human-computer-interaction

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