Fast foot prints replanning and generation during walking in physical human-humanoid interaction

  • Posted on: 19 August 2014
  • By: ostasse
TitleFast foot prints replanning and generation during walking in physical human-humanoid interaction
Publication TypeConference Paper
Year of Publication2009
AuthorsStasse, O, Evrard, P, Perrin, N, Mansard, N, Kheddar, A
Conference NameIEEE/RAS International Conference on Humanoid Robot (ICHR)
Date PublishedDecember
KeywordsMotion planning, Walking pattern generator
Abstract

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 controllers. Several experiments of direct interaction between a human and a HRP-2 humanoid robot illustrates the results.

URLhttp://homepages.laas.fr/ostasse/os_humanoids09.pdf