Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture

TL;DR

Surena-V is a humanoid robot with an optimization-based control system that enhances human-robot collaboration and environmental interaction, demonstrated through experiments involving medical needle control and cooperative object movement.

Contribution

The paper introduces a novel control architecture for humanoid robots that improves stability, environmental interaction, and collaboration capabilities using optimization strategies and force detection.

Findings

Successful medical needle control through soft material

Effective human-robot collaboration in object movement

Enhanced environmental interaction via force detection

Abstract

This paper presents Surena-V, a humanoid robot designed to enhance human-robot collaboration capabilities. The robot features a range of sensors, including barometric tactile sensors in its hands, to facilitate precise environmental interaction. This is demonstrated through an experiment showcasing the robot's ability to control a medical needle's movement through soft material. Surena-V's operational framework emphasizes stability and collaboration, employing various optimization-based control strategies such as Zero Moment Point (ZMP) modification through upper body movement and stepping. Notably, the robot's interaction with the environment is improved by detecting and interpreting external forces at their point of effect, allowing for more agile responses compared to methods that control overall balance based on external forces. The efficacy of this architecture is substantiated through an experiment illustrating the robot's collaboration with a human in moving a bar. This work contributes to the field of humanoid robotics by presenting a comprehensive system design and control architecture focused on human-robot collaboration and environmental adaptability.