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arXiv · 2010.04573

Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications

Anastasia Bolotnikova·Pierre Gergondet·Arnaud Tanguy·Sébastien Courtois·Abderrahmane Kheddar
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Abstract

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.

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Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar. 2020-10-09. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications. https://arxiv.org/abs/2010.04573

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