The CoDyCo Project achievements and beyond: Towards 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: Towards 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

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

Abstract / Description of output

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 behaviours and intentions is necessary. In this paper 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 - Jan 2018

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10.1109/LRA.2017.2768126

17-0451_03_MS-1Accepted author manuscript, 0.99 MB

http://ieeexplore.ieee.org/document/8093992/

Michael Mistry
- School of Informatics - Personal Chair of Robotics
- Institute of Perception, Action and Behaviour
- Language, Interaction, and Robotics
Person: Academic: Research Active

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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: Towards 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: Towards 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 rigidand 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 behaviours and intentions is necessary. In this paper 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 ahuman-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",

year = "2018",

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doi = "10.1109/LRA.2017.2768126",

language = "English",

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journal = "IEEE Robotics and Automation Letters",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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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: Towards 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: Towards 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

Y1 - 2018/1

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 rigidand 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 behaviours and intentions is necessary. In this paper 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 ahuman-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 rigidand 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 behaviours and intentions is necessary. In this paper 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 ahuman-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: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction

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Michael Mistry

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