The goal of this diploma thesis was to develop a method that enables physical collaboration between the humanoid robot Talos and humans through sensorimotor teleoperation. The ultimate objective was to teach the robot a collaborative task without explicitly programming the necessary movements. This was accomplished by synchronizing the movements of two robots — the humanoid robot Talos and the KUKA-LWR robotic arm — along with the assistance of two human participants. One participant physically guided the handle attached to the end-effector of the KUKA-LWR robot using interaction forces, while the other applied the same strategy to guide Talos’ grippers. The two robots were interconnected, moving synchronously in response to the combined forces applied to their respective end effectors. This setup also allows participants to move both robots simultaneously by exerting force on just one of them. To demonstrate the collaborative system between humans and robots, we selected the sit-to-stand assistance task. The participant controlling the KUKA-LWR robot's handle physically aided the person holding for Talos’ grippers by pulling the KUKA-LWR handle, facilitating the process of standing up and sitting down. We developed the control program for both robots in Matlab and conducted initial testing in a simulation environment, followed by trials on actual robots. To gather data for analysis, we performed experiments with five individuals and collected information on the movements and forces generated during the execution of the collaborative task. By analyzing the trajectories of the end effectors, we developed a model that the humanoid robot Talos could use to autonomously assist humans with standing up.
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