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Trajectory Advancement for Robot Stand-up with Human Assistance (1910.06786v1)

Published 14 Oct 2019 in cs.RO

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.

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