Publications

@INPROCEEDINGS{bussy12transportation,
  author = {Bussy, Antoine and Kheddar, Abderrahmane and Crosnier, Andr{\'e}
	and Keith, Fran{\c c}ois},
  title = {Human-Humanoid Haptic Joint Object Transportation Case Study},
  booktitle = {{IROS'12: International Conference on Intelligent Robots and Systems}},
  year = {2012},
  volume = {1},
  pages = {3633--3638},
  address = {Vilamoura, Algarve, Portugal},
  month = {October},
  note = {Robohow.Cog},
  abstract = {{In this paper, we propose a control scheme that allows a humanoid
	robot to perform a transportation task jointly with a human partner.
	From the study of how human dyads achieve such a task, we have developed
	a control law for physical interaction that unifies standalone and
	collaborative (leader and follower) modes for trajectory-based tasks.
	We present it in the case of a linear impedance controller but it
	can be generalized to more complex impedances. Desired trajectories
	are decomposed into sequences of elementary motion primitives. We
	implemented this model with a Finite State Machine associated with
	a reactive pattern generator. First experiments conducted on a real
	HRP-2 humanoid robot assess the overall approach.}},
  affiliation = {Laboratoire d'Informatique de Robotique et de Micro{\'e}lectronique
	de Montpellier - LIRMM , Joint Robotics Laboratory - JRL},
  audience = {internationale },
  doi = {10.1109/IROS.2012.6385921},
  file = {:/home/fkeith/2011 - 20xx/Articles/IDH_papers/2012_iros_bussy.pdf:PDF},
  hal_id = {lirmm-00773401},
  issn = {2153-0858},
  keywords = {Human-Humanoid Interaction; Physical Human-Robot Interaction; Compliance
	and Impedance Control},
  language = {Anglais},
  pdf = {http://hal-lirmm.ccsd.cnrs.fr/lirmm-00773401/PDF/2012\_iros\_bussy.pdf},
  url = {http://hal-lirmm.ccsd.cnrs.fr/lirmm-00773401}
}