Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach
Rémy Rahem,Christopher Yee Wong,Wael Suleiman,Rémy Rahem,Christopher Yee Wong,Wael Suleiman
In order to properly integrate humanoid robots in real-life situations, they must be able to collaborate with humans in completing tasks. One of these tasks is the cooperative transportation of a heavy object, which has been widely studied in the humanoids literature. However, the proposed methods rely heavily on six-axis force/torque (F/T) sensors at the wrists, which medium-sized or even some fu...
