Blog
About

5
views
0
recommends
+1 Recommend
0 collections
    0
    shares
      • Record: found
      • Abstract: found
      • Article: found
      Is Open Access

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

      Preprint

      Read this article at

      Bookmark
          There is no author summary for this article yet. Authors can add summaries to their articles on ScienceOpen to make them more accessible to a non-specialist audience.

          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.

          Related collections

          Author and article information

          Journal
          09 October 2020
          Article
          2010.04573

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

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

          Robotics, Human-computer-interaction

          Comments

          Comment on this article