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2016 IEEE International Conference on Robotics and Automation (ICRA)

DOI: 10.1109/icra.2016.7487296

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Walking pattern generators designed for physical collaboration

Journal article published in 2015 by Don Joven Agravante, Alexander Sherikov, Pierre-Brice Wieber, Andrea Cherubini ORCID, Abderrahmane Kheddar
This paper is available in a repository.
This paper is available in a repository.

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Abstract

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 Terms— Humanoid walking, human-humanoid physical interaction, model-predictive control.