Collaborative human-humanoid carrying using vision and haptic sensing

  title={Collaborative human-humanoid carrying using vision and haptic sensing},
  author={Don Joven Agravante and Andrea Cherubini and Antoine Bussy and Pierre Gergondet and Abderrahmane Kheddar},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
We propose a framework for combining vision and haptic information in human-robot joint actions. It consists of a hybrid controller that uses both visual servoing and impedance controllers. This can be applied to tasks that cannot be done with vision or haptic information alone. In this framework, the state of the task can be obtained from visual information while haptic information is crucial for safe physical interaction with the human partner. The approach is validated on the task of jointly… CONTINUE READING
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