{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/harmonious-human-like-reactive-motion-control","title":"HARMONIOUS -- Human-like reactive motion control and multimodal perception for humanoid robots","arxiv_id":"2312.02711","date":"2023-12-05","proceeding":null,"authors":["Jakub Rozlivek","Alessandro Roncone","Ugo Pattacini","Matej Hoffmann"],"abstract":"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.","url_abs":"https://arxiv.org/abs/2312.02711v2","url_pdf":"https://arxiv.org/pdf/2312.02711v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"harmonious-human-like-reactive-motion-control","repo_url":"https://github.com/robotology/react-control","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}