Jakub Rozlivek presents HARMONIOUS - Human-like reactive motion control and multimodal perception for humanoid robots
On 2025-03-06 11:00:00 at E112, Karlovo náměstí 13, Praha 2
Article:
Rozlivek, J.; Roncone, A.; Pattacini, U. & Hoffmann, M. (2025), 'HARMONIOUS –
Human-like reactive motion control and multimodal perception for humanoid
robots', IEEE Transactions on Robotics 41, 378 - 393.
DOI: https://doi.org/10.1109/TRO.2024.3502216
Abstract:
For safe and effective operation of humanoid robots in human-populated
environments, the problem of commanding a large number of Degrees of Freedom
(DoF) while simultaneously considering dynamic obstacles and human proximity
has
still not been solved. We present a new reactive motion controller that
commands
two arms of a humanoid robot and three torso joints (17 DoF in total). We
formulate a quadratic program that seeks joint velocity commands respecting
multiple constraints while minimizing the magnitude of the velocities. We
introduce a new unified treatment of obstacles that dynamically maps visual and
proximity (pre-collision) and tactile (post-collision) obstacles as additional
constraints to the motion controller, in a distributed fashion over the surface
of the upper body of the iCub robot (with 2000 pressure-sensitive receptors).
This results in a bio-inspired controller that: (i) gives rise to a robot with
whole-body visuo-tactile awareness, resembling peripersonal space
representations, and (ii) produces human-like minimum jerk movement profiles.
The controller was extensively experimentally validated, including a physical
human-robot interaction scenario.
Rozlivek, J.; Roncone, A.; Pattacini, U. & Hoffmann, M. (2025), 'HARMONIOUS –
Human-like reactive motion control and multimodal perception for humanoid
robots', IEEE Transactions on Robotics 41, 378 - 393.
DOI: https://doi.org/10.1109/TRO.2024.3502216
Abstract:
For safe and effective operation of humanoid robots in human-populated
environments, the problem of commanding a large number of Degrees of Freedom
(DoF) while simultaneously considering dynamic obstacles and human proximity
has
still not been solved. We present a new reactive motion controller that
commands
two arms of a humanoid robot and three torso joints (17 DoF in total). We
formulate a quadratic program that seeks joint velocity commands respecting
multiple constraints while minimizing the magnitude of the velocities. We
introduce a new unified treatment of obstacles that dynamically maps visual and
proximity (pre-collision) and tactile (post-collision) obstacles as additional
constraints to the motion controller, in a distributed fashion over the surface
of the upper body of the iCub robot (with 2000 pressure-sensitive receptors).
This results in a bio-inspired controller that: (i) gives rise to a robot with
whole-body visuo-tactile awareness, resembling peripersonal space
representations, and (ii) produces human-like minimum jerk movement profiles.
The controller was extensively experimentally validated, including a physical
human-robot interaction scenario.