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 the surface of the upper body of the iCub robot (with 2000 pressure-sensitive receptors). This results in a bio-inspired controller that: (i) gives rise to a robot with whole-body visuo-tactile awareness, resembling peripersonal space representations, and (ii) produces human-like minimum jerk movement profiles. The controller was extensively experimentally validated, including a physical human-robot interaction scenario.

翻译：为使仿人机器人在人类密集环境中安全有效地运行，在同时考虑动态障碍物和人类邻近性的情况下，对大量自由度（DoF）进行指令控制的问题仍未得到解决。我们提出了一种新的反应式运动控制器，用于控制仿人机器人的双臂及三个躯干关节（共17个自由度）。我们构建了一个二次规划问题，该问题在满足多重约束的同时寻求最小化速度幅值的关节速度指令。我们引入了一种新的障碍物统一处理方法，以分布式方式将视觉与邻近（碰撞前）感知障碍物及触觉（碰撞后）感知障碍物动态映射为运动控制器的附加约束，该方法覆盖了iCub机器人上半身表面（配备2000个压敏传感器）。由此产生的仿生控制器具有以下特性：（i）赋予机器人全身视觉-触觉感知能力，类似于外周空间表征；（ii）生成类人的最小加加速度运动轨迹。该控制器经过广泛的实验验证，包括实际的人机交互场景。