Trajectory Advancement for Robot Stand-up with Human Assistance
This addresses the need for more intuitive robot behaviors in collaborative tasks, though it appears incremental as it builds on existing trajectory methods with human assistance.
The paper tackled the problem of enabling robots to exhibit intuitive behaviors during human-robot collaboration by proposing a trajectory advancement approach that leverages human assistance to advance along a reference trajectory, validated through simulation experiments with iCub.
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.