Chapter 69 — Physical Human-Robot Interaction

Dancing with Juliet

This video presents experiments in human-robot interaction using the Stanford Mobile Manipulator platforms. Each platform consists of a Puma 560 manipulator mounted on a holonomic mobile base. The experiments shown in this video are the results of the implementation of various methodologies developed for establishing the basic autonomous capabilities needed for robot operations in human environments. The integration of mobility and manipulation is based on a task-oriented control strategy which provides the user with two basic control primitives: end-effector task control and platform self-posture control.
Oussama Khatib, Kyong-Sok Chang, Oliver Brock, Kazuhito Yokoi, Arancha Casal, Robert Holmberg