Trajectory Advancement for Robot Stand-up with Human Assistance

TL;DR

This paper introduces a trajectory advancement method for robot stand-up tasks that uses human assistance forces to improve movement, validated through simulation experiments with the iCub robot.

Contribution

It presents a novel trajectory advancement approach that incorporates human interaction wrench to enhance robot movement during collaborative tasks.

Findings

Effective trajectory advancement demonstrated in simulation

Improved robot stand-up performance with human assistance

Potential for more intuitive human-robot collaboration

Abstract

Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a trajectory advancement approach that facilitates advancement along a reference trajectory by leveraging assistance from helpful interaction wrench present during human-robot collaboration. We validate our approach through experiments in simulation with iCub.