Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction

Olivier Stasse, Paul Evrard, Nicolas Perrin, Nicolas Mansard, Abderrahmane Kheddar
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
In this paper a system allowing real-time interaction between a human and a humanoid robot while walking is presented. The aim of this work is to integrate humanoid robots into collaborative working environment. Co-located realization of a task is one instance of such collaboration. To achieve such task whole-body motion generation while keeping balance is mandatory. This is obtained using a real-time pattern generator allowing on-line foot-print modification integrated in a stack of
more » ... . Several experiments of direct interaction between a human and a HRP-2 humanoid robot illustrates the results. hal-00507141, version 1 -
doi:10.1109/ichr.2009.5379563 dblp:conf/humanoids/StasseEPMK09 fatcat:chrllkltrnbifpoz55aaeavwn4