Towards partner-aware humanoid robot control under physical interactions

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  • External authors:
  • Yeshasvi Tirupachuri
  • Gabriele Nava
  • Claudia Latella
  • Luca Tagliapietra
  • Francesco Nori
  • Daniele Pucci


The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human or another robot, without considering the dynamics of both the systems may lead to many shortcomings in fully exploiting the interaction. In this paper, we present a coupled-dynamics formalism followed by a sound approach in exploiting helpful interaction with a humanoid robot. In particular, we propose the first attempt to define and exploit the human help for the robot to accomplish a specific task. As a result, we present a task-based partner-aware robot control techniques. The theoretical results are validated by conducting experiments with two iCub humanoid robots involved in physical interaction.

Bibliographical metadata

Original languageEnglish
Title of host publicationIntelligent Systems and Applications - Proceedings of the 2019 Intelligent Systems Conference IntelliSys Volume 2
EditorsYaxin Bi, Rahul Bhatia, Supriya Kapoor
PublisherSpringer Nature
Number of pages20
ISBN (Print)9783030295127
Publication statusPublished - 1 Jan 2020
EventIntelligent Systems Conference, IntelliSys 2019 - London, United Kingdom
Event duration: 5 Sep 20196 Sep 2019

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


ConferenceIntelligent Systems Conference, IntelliSys 2019
Country/TerritoryUnited Kingdom