Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller.
Kazuya OtaniKarim BouyarmaneSerena IvaldiPublished in: ICRA (2018)
Keyphrases
- multi robot
- manipulation tasks
- motion planning
- impedance control
- quadratic program
- robotic systems
- path planning
- real robot
- control law
- mobile robot
- collision free
- linear constraints
- humanoid robot
- convex optimization
- linear program
- autonomous robots
- control system
- maximum margin
- optical flow
- quadratic programming
- mixed integer
- robot navigation
- approximation algorithms
- image sequences
- human motion
- linear programming
- inverse kinematics
- real time
- closed loop
- human computer interaction
- dynamic environments
- vision system
- human robot interaction
- degrees of freedom
- pid controller
- optimal solution
- control scheme
- control algorithm
- support vector