Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach
Why this work is in the frame
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Bibliographic record
Abstract
In order to properly integrate humanoid robots in real-life situations, they must be able to collaborate with humans in completing tasks. One of these tasks is the cooperative transportation of a heavy object, which has been widely studied in the humanoids literature. However, the proposed methods rely heavily on six-axis force/torque (F/T) sensors at the wrists, which medium-sized or even some full-sized humanoid robots do not have. This paper proposes an observer to overcome the lack of F/T sensors. The observer is then coupled with a simplified dynamic model of the transportation task allowing the humanoid robot to carry out the task in a stable way. The method is tested in simulation using a humanoid robot that does not have F/T sensors, a NAO robot, to demonstrate its performance. These tests pointed out that the proposed method successfully estimated the interaction forces while generating stable walking patterns.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it