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Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications

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arxiv 2010.04573 v1 pith:R6HZYRZS submitted 2020-10-09 cs.RO cs.HC

Anastasia Bolotnikova , Pierre Gergondet , Arnaud Tanguy , Sébastien Courtois , Abderrahmane Kheddar This is my paper · ORCID
classification cs.ROcs.HC
keywords controlinterfacerobothumanhuman-robothumanoidinteractionopen-source
verification ladder T0 review T1 audit T2 compute T3 formal
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We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers. We demonstrate the use of these tools in simulation for a robot interacting with a human model. Finally, we showcase and discuss the use of the developed open-source tools for running the human-robot close contact interaction experiments with real human subjects inspired from assistance scenarios.

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