Human-robot cooperative object manipulation with contact changes

Michael Gienger; Dirk Ruiken; Tamas Bates; Mohamed Regaieg; M. Meibner; Jens Kober; Philipp Seiwald; Arne Christoph Hildebrandt

doi:10.1109/IROS.2018.8594140

Human-robot cooperative object manipulation with contact changes

Michael Gienger, Dirk Ruiken, Tamas Bates, Mohamed Regaieg, M. Meibner, Jens Kober, Philipp Seiwald, Arne Christoph Hildebrandt

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

18 Citations (Scopus)

193 Downloads (Pure)

Abstract

This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the cooperation including contact changes, and a novel architecture combining force interaction cues, interactive search-based planning, and online trajectory and motion generation. The resulting system implements a mixed initiative collaboration strategy, deferring to the human when his intentions are unclear, and driving the task once understood. This results in an easy and intuitive human-robot interaction. It is evaluated in simulations and on a bi-manual mobile robot with 32 degrees of freedom.

Original language	English
Title of host publication	Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Editors	Carlos Balaguer, Hajime Asama, Danica Kragic, Kevin Lynch
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	1354-1360
ISBN (Electronic)	978-1-5386-8094-0
DOIs	https://doi.org/10.1109/IROS.2018.8594140
Publication status	Published - 2018
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country/Territory	Spain
City	Madrid
Period	1/10/18 → 5/10/18

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Robot sensing systems
Task analysis
Planning
Robot kinematics
Trajectory
Synchronization

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10.1109/IROS.2018.8594140

Human-Robot_Cooperative_Object_Manipulation_with_Contact_ChangesFinal published version, 4.22 MB

Cite this

Gienger, M., Ruiken, D., Bates, T., Regaieg, M., Meibner, M., Kober, J., Seiwald, P., & Hildebrandt, A. C. (2018). Human-robot cooperative object manipulation with contact changes. In C. Balaguer, H. Asama, D. Kragic, & K. Lynch (Eds.), Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) (pp. 1354-1360). IEEE. https://doi.org/10.1109/IROS.2018.8594140

@inproceedings{6f08a9305c7f4cc6bdb58c3e8e5f1293,

title = "Human-robot cooperative object manipulation with contact changes",

abstract = "This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the cooperation including contact changes, and a novel architecture combining force interaction cues, interactive search-based planning, and online trajectory and motion generation. The resulting system implements a mixed initiative collaboration strategy, deferring to the human when his intentions are unclear, and driving the task once understood. This results in an easy and intuitive human-robot interaction. It is evaluated in simulations and on a bi-manual mobile robot with 32 degrees of freedom.",

keywords = "Robot sensing systems, Task analysis, Planning, Robot kinematics, Trajectory, Synchronization",

author = "Michael Gienger and Dirk Ruiken and Tamas Bates and Mohamed Regaieg and M. Meibner and Jens Kober and Philipp Seiwald and Hildebrandt, {Arne Christoph}",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

year = "2018",

doi = "10.1109/IROS.2018.8594140",

language = "English",

pages = "1354--1360",

editor = "Balaguer, {Carlos } and Asama, {Hajime } and Kragic, {Danica } and Lynch, {Kevin }",

booktitle = "Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)",

publisher = "IEEE",

address = "United States",

}

Gienger, M, Ruiken, D, Bates, T, Regaieg, M, Meibner, M, Kober, J, Seiwald, P & Hildebrandt, AC 2018, Human-robot cooperative object manipulation with contact changes. in C Balaguer, H Asama, D Kragic & K Lynch (eds), Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). IEEE, Piscataway, NJ, USA, pp. 1354-1360, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8594140

Human-robot cooperative object manipulation with contact changes. / Gienger, Michael; Ruiken, Dirk; Bates, Tamas et al.
Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). ed. / Carlos Balaguer; Hajime Asama; Danica Kragic; Kevin Lynch. Piscataway, NJ, USA: IEEE, 2018. p. 1354-1360.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Gienger, Michael

AU - Ruiken, Dirk

AU - Bates, Tamas

AU - Regaieg, Mohamed

AU - Meibner, M.

AU - Kober, Jens

AU - Seiwald, Philipp

AU - Hildebrandt, Arne Christoph

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2018

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N2 - This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the cooperation including contact changes, and a novel architecture combining force interaction cues, interactive search-based planning, and online trajectory and motion generation. The resulting system implements a mixed initiative collaboration strategy, deferring to the human when his intentions are unclear, and driving the task once understood. This results in an easy and intuitive human-robot interaction. It is evaluated in simulations and on a bi-manual mobile robot with 32 degrees of freedom.

AB - This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the cooperation including contact changes, and a novel architecture combining force interaction cues, interactive search-based planning, and online trajectory and motion generation. The resulting system implements a mixed initiative collaboration strategy, deferring to the human when his intentions are unclear, and driving the task once understood. This results in an easy and intuitive human-robot interaction. It is evaluated in simulations and on a bi-manual mobile robot with 32 degrees of freedom.

KW - Robot sensing systems

KW - Task analysis

KW - Planning

KW - Robot kinematics

KW - Trajectory

KW - Synchronization

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M3 - Conference contribution

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EP - 1360

BT - Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)

A2 - Balaguer, Carlos

A2 - Asama, Hajime

A2 - Kragic, Danica

A2 - Lynch, Kevin

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

Y2 - 1 October 2018 through 5 October 2018

ER -

Human-robot cooperative object manipulation with contact changes

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Keywords

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