Walking pattern generators designed for physical collaboration
2016 IEEE International conference on Robotics and Automation (ICRA), 2016•ieeexplore.ieee.org
This paper is about the design of humanoid walking pattern generators to be used for
physical collaboration. A particular use case is a humanoid robot helping a human to carry
large and/or heavy objects. To do this, we construct a reduced model which takes into
account physical interaction. This is used in a model predictive control framework to
generate separate behaviors for being a follower or a leader. The approach is then validated
both on simulation and on the HRP-4 humanoid robot.
physical collaboration. A particular use case is a humanoid robot helping a human to carry
large and/or heavy objects. To do this, we construct a reduced model which takes into
account physical interaction. This is used in a model predictive control framework to
generate separate behaviors for being a follower or a leader. The approach is then validated
both on simulation and on the HRP-4 humanoid robot.
This paper is about the design of humanoid walking pattern generators to be used for physical collaboration. A particular use case is a humanoid robot helping a human to carry large and/or heavy objects. To do this, we construct a reduced model which takes into account physical interaction. This is used in a model predictive control framework to generate separate behaviors for being a follower or a leader. The approach is then validated both on simulation and on the HRP-4 humanoid robot.
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