For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not been solved. We present a new reactive motion controller that commands two arms of a humanoid robot and three torso joints (17 DoF in total). We formulate a quadratic program that seeks joint velocity commands respecting multiple constraints while minimizing the magnitude of the velocities. We introduce a new unified treatment of obstacles that dynamically maps visual and proximity (pre-collision) and tactile (post-collision) obstacles as additional constraints to the motion controller, in a distributed fashion over surface of the upper-body of the iCub robot (with 2000 pressure-sensitive receptors). The bio-inspired controller: (i) produces human-like minimum jerk movement profiles; (ii) gives rise to a robot with whole-body visuo-tactile awareness, resembling peripersonal space representations. The controller was extensively experimentally validated, including a physical human-robot interaction scenario.

翻译：为实现人形机器人在人类密集环境中的安全高效运行，如何同时控制其大量自由度（DoF）并应对动态障碍物与人类接近的问题仍未解决。我们提出一种新型反应式运动控制器，可同时控制人形机器人的双臂与三个躯干关节（总计17个自由度）。该控制器构建了一个二次规划模型，在满足多重约束条件的同时寻找关节速度指令，并最小化速度幅值。我们引入了一种统一的障碍物处理方法，将视觉与接近（碰撞前）障碍、触觉（碰撞后）障碍动态映射为运动控制器的附加约束，并以分布式方式覆盖iCub机器人上半身表面（配备2000个压力敏感受体）。该仿生控制器具备以下特征：（i）生成类人最小加加速度运动轨迹；（ii）赋予机器人全身视觉-触觉感知能力，类似于人类近体空间表征。通过广泛实验验证，包括实际人机交互场景测试，验证了控制器的有效性。