Cobotic AppLication for handover and Load transport – CALL

TThe CALL project aims to realize human-robot interactions in an industrial task. Specifically, it involves generating handovers of an object between a human subject and a robotic system, followed by collaboratively transporting this object. A first step will involve studying the biomechanical behaviour of two subjects in spontaneous interaction. The kinematics and dynamics of the subjects will be analysed to better understand the criteria for performing the task in a robust and secure manner. In a second step, these spontaneous behaviours will be simulated using classical optimal control algorithms developed by the project partners. Concurrently, an embedded three-dimensional vision system will be designed using multiple 360° cameras to enable precise localization of human subjects and their instantaneous kinematics. These vision data should, in particular, allow for the localization of the object to be transferred between the manipulator arm and the subject. In a final step, we will generate human-robot interactions using a set of arm manipulators. For these interactions, a proactive robot behaviour will be implemented by integrating simulations based on experimental analyses of human subjects. Thus, we aim to achieve much smoother interaction based on the generation of a personalised human behaviour. We plan to achieve smooth and safe contact between the robot and the human subject, followed by collaborative transportation of the load while ensuring the robot's secure grip on the object. This inherently interdisciplinary project will bring together specialists in life sciences, vision, and robotics. Coordinated by LAAS-CNRS in Toulouse, this project will also establish international collaboration with the University of Sherbrooke in Canada and a CNRS unit located in Tsukuba, Japan. An industrial partner (Enchanted Tools) will be present throughout the project to participate in task definition. Their robot, Miroki, will also serve as one of the demonstrators.