Robot Design Optimization for Human-Robot Collaborative Lifting Tasks

Humanoid robots are foreseen to be soon part of our daily life, often interacting with humans. For this reason, several control architectures have been developed to address ergonomic physical human-robot interaction. However, the robot hardware design is yet to be considered as an element that can be optimized with respect to the collaborative task. This work presents a framework allowing to consider hardware parameters considering both hardware and ergonomic specific constraints. The proposed methodology is validated on the iCub humanoid robot considering the different scenario of payload lifting tasks