000267401 001__ 267401
000267401 005__ 20190624153451.0
000267401 037__ $$aPOST_TALK
000267401 245__ $$aReactive Motion Planning for Human-Robot Cooperative Tasks Under Uncertainties
000267401 260__ $$c2019-06-23
000267401 269__ $$a2019-06-23
000267401 300__ $$a3
000267401 336__ $$aPosters
000267401 513__ $$aPosters
000267401 520__ $$aAssistive robotics aims to design physically collaborative robots which are able to help human partners with cumbersome tasks; for instance, lifting a heavy plank/guard and inserting it into a frame at the ceiling. To reduce human load-share, it is expected from the robot to perform such tasks in coordination with the human partner. Uncertainty of human behavior and complex dynamics of real-world environments pose challenging problems for robotic systems. It is crucial to employ control frameworks that allow for both motion tracking and interaction/force control. Furthermore, the framework should allow for reactive and adaptive motion planning toward human behavior. To deliver these requirements, we propose a Dynamical System-based control architecture with adaptation capabilities. Our preliminary experimentation using ARMAR-6 shows promising performances to achieve such a complex task in collaboration with human users.
000267401 6531_ $$aPhysical Human-Robot interaction
000267401 6531_ $$aDynamical Systems
000267401 700__ $$0248368$$aKhoramshahi, Mahdi$$g217217
000267401 700__ $$aZhou, You
000267401 700__ $$aGao, Jianfeng
000267401 700__ $$aWatcher, Mirko
000267401 700__ $$aAsfour, Tamim
000267401 700__ $$0240594$$aBillard, Aude$$g115671
000267401 7112_ $$aRSS Workshop on Robust Task and Motion Planning$$cFreiburg, Germany$$dSunday, June 23, 2019 
000267401 710__ $$aMahdi Khoramshahi
000267401 720_2 $$0240594$$aBillard, Aude$$g115671
000267401 8560_ $$fmahdi.khoramshahi@epfl.ch
000267401 8564_ $$uhttps://infoscience.epfl.ch/record/267401/files/Abstract.pdf$$s615479
000267401 909C0 $$xU10660$$pLASA$$maude.billard@epfl.ch$$0252119$$zMarselli, Béatrice
000267401 909CO $$pSTI$$ppresentation$$pposter$$ooai:infoscience.epfl.ch:267401
000267401 960__ $$amahdi.khoramshahi@epfl.ch
000267401 961__ $$apierre.devaud@epfl.ch
000267401 973__ $$aEPFL$$sPUBLISHED
000267401 980__ $$aPOST_TALK
000267401 981__ $$aoverwrite