Walking pattern generators designed for physical collaboration

DJ Agravante, A Sherikov, PB Wieber… - … on Robotics and …, 2016 - ieeexplore.ieee.org
2016 IEEE International conference on Robotics and Automation (ICRA), 2016ieeexplore.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.
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.
ieeexplore.ieee.org
Showing the best result for this search. See all results