Proactive behavior of a humanoid robot in a haptic transportation task with a human partner

In this paper, we propose a control scheme that allows a humanoid robot to perform a complex transportation scenario jointly with a human partner. At first, the robot guesses the human partner´s intentions to proactively participate to the task. In a second phase, the human-robot dyad switches roles: the robot takes over the leadership of the task to complete the scenario. During this last phase, the robot is remotely controlled with a joystick. The scenario is realized on a real HRP-2 humanoid robot to assess the overall approach.