Walking pattern generators designed for physical collaboration

Don Joven Agravante, Alexander Sherikov, Pierre-Brice Wieber, Andrea Cherubini, Abderrahmane Kheddar
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
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. Index
more » ... erms-Humanoid walking, human-humanoid physical interaction, model-predictive control.
doi:10.1109/icra.2016.7487296 dblp:conf/icra/AgravanteSWCK16 fatcat:be4zqfl5w5bnjcreyl4jmqqq7m