A Reactive Trajectory Controller for Object Manipulation in Human Robot Interaction

International audience This paper presents a reactive trajectory controller for manipulating objects in Human Robot Interaction (HRI) context. The trajectories to be followed by the robot are provided by a human aware motion planner. The controller is based on an online trajectory generator, which i...

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Bibliographic Details
Main Authors: He, Wuwei, Sidobre, Daniel, Zhao, Ran
Other Authors: Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse Capitole (UT Capitole), Université Fédérale Toulouse Midi-Pyrénées
Format: Conference Object
Language:English
Published: HAL CCSD 2013
Subjects:
Robotic
Manipulation
Trajectory Generation
Human-robot Interaction
Control
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Iceland
Online Access:https://hal.laas.fr/hal-01994884
https://hal.laas.fr/hal-01994884/document
https://hal.laas.fr/hal-01994884/file/graspingObject.pdf
Description
Summary:International audience This paper presents a reactive trajectory controller for manipulating objects in Human Robot Interaction (HRI) context. The trajectories to be followed by the robot are provided by a human aware motion planner. The controller is based on an online trajectory generator, which is capable of calculating a trajectory from an arbitrary initial condition to a target within one control cycle. The controller is capable of switching to a new trajectory each time the motion planner provides a new trajectory, changing the frame in which the input trajectory is controlled and tracking a target or a trajectory in a frame, which moves with respect to the robot frame. The controller chooses different control modes for different situations. Visual servoing by trajectory generation is considered as one case of the control situations. Some results obtained with this controller are presented to illustrate the potential of the approach.

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