The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction

francesco romano; Gabriele Nava; Morteza Azad; Jernej Camernik; Stefano Dafarra; Oriane Dermy; Claudia Latella; Maria Lazzaroni; Ryan Lober; Marta Lorenzini; Daniele Pucci; Olivier Sigaud; Silvio Traversaro; Jan Babic; Serena Ivaldi; Michael Mistry; Vincent  Padois; Francesco Nori

doi:10.1109/LRA.2017.2768126

The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction

francesco romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael Mistry, Vincent Padois, Francesco Nori

Computer Science

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

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Abstract

The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviors and intentions is necessary. In this letter, we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.

Original language	English
Pages (from-to)	516-523
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	3
Issue number	1
Early online date	2 Nov 2017
DOIs	https://doi.org/10.1109/LRA.2017.2768126
Publication status	Published - 1 Jan 2018

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10.1109/LRA.2017.2768126Licence: Creative Commons: Attribution (CC BY)

Romano_et_al_The_CoDyCo_project_IEEE_Robotics_and_Automation_Letters_2018
Checked for eligibility 14/09/2018 Published in IEEE Robotics and Automation Letters (©2017 IEEE) DOI: 10.1109/LRA.2017.2768126
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romano, F., Nava, G., Azad, M., Camernik, J., Dafarra, S., Dermy, O., Latella, C., Lazzaroni, M., Lober, R., Lorenzini, M., Pucci, D., Sigaud, O., Traversaro, S., Babic, J., Ivaldi, S., Mistry, M., Padois, V., & Nori, F. (2018). The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction. IEEE Robotics and Automation Letters, 3(1), 516-523. https://doi.org/10.1109/LRA.2017.2768126

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title = "The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction",

abstract = "The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviors and intentions is necessary. In this letter, we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.",

author = "francesco romano and Gabriele Nava and Morteza Azad and Jernej Camernik and Stefano Dafarra and Oriane Dermy and Claudia Latella and Maria Lazzaroni and Ryan Lober and Marta Lorenzini and Daniele Pucci and Olivier Sigaud and Silvio Traversaro and Jan Babic and Serena Ivaldi and Michael Mistry and Vincent Padois and Francesco Nori",

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doi = "10.1109/LRA.2017.2768126",

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romano, F, Nava, G, Azad, M, Camernik, J, Dafarra, S, Dermy, O, Latella, C, Lazzaroni, M, Lober, R, Lorenzini, M, Pucci, D, Sigaud, O, Traversaro, S, Babic, J, Ivaldi, S, Mistry, M, Padois, V & Nori, F 2018, 'The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction', IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 516-523. https://doi.org/10.1109/LRA.2017.2768126

TY - JOUR

T1 - The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction

AU - romano, francesco

AU - Nava, Gabriele

AU - Azad, Morteza

AU - Camernik, Jernej

AU - Dafarra, Stefano

AU - Dermy, Oriane

AU - Latella, Claudia

AU - Lazzaroni, Maria

AU - Lober, Ryan

AU - Lorenzini, Marta

AU - Pucci, Daniele

AU - Sigaud, Olivier

AU - Traversaro, Silvio

AU - Babic, Jan

AU - Ivaldi, Serena

AU - Mistry, Michael

AU - Padois, Vincent

AU - Nori, Francesco

PY - 2018/1/1

Y1 - 2018/1/1

N2 - The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviors and intentions is necessary. In this letter, we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.

AB - The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviors and intentions is necessary. In this letter, we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.

U2 - 10.1109/LRA.2017.2768126

DO - 10.1109/LRA.2017.2768126

M3 - Article

SN - 2377-3766

VL - 3

SP - 516

EP - 523

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 1

ER -

The CoDyCo project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction

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