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Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction
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
doi:10.1109/ichr.2009.5379563
dblp:conf/humanoids/StasseEPMK09
fatcat:chrllkltrnbifpoz55aaeavwn4