We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers. We demonstrate the use of these tools in simulation for a robot interacting with a human model. Finally, we showcase and discuss the use of the developed open-source tools for running the human-robot close contact interaction experiments with real human subjects inspired from assistance scenarios.
翻译：我们展示了一个开放源码软件界面,称为mc_naoqi, 用于在Mc_rtc框架内对欧洲软银行机器人机器人进行全体任务-空夸乐编程控制。 我们描述控制界面、相关机器人描述包、机器人模块和样本整体控制器。 我们演示了这些工具在机器人与人类模型互动的模拟中的使用情况。 最后, 我们展示并讨论了如何使用开发的开放源码工具来运行人类-机器人密切接触的互动实验,与受援助情景启发的真正人类主体进行互动实验。
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