论文标题
软银人形机器人及其人类机器人交互应用的任务空间控制接口
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications
论文作者
论文摘要
我们提出了一个名为MC_NAOQI的开源软件界面，该界面允许在Softbentc Robotics Europe Humanoid Robots上执行基于MC_RTC框架中实现的全身任务空间二次编程控制。我们描述了控制接口，关联的机器人说明软件包，机器人模块和样品全身控制器。我们证明了这些工具在仿真中使用与人类模型相互作用的机器人。最后，我们展示并讨论了开发的开源工具的使用，用于运行人类机器人的紧密接触互动实验与受援助方案启发的真实人类受试者进行的。
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.
