Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction
Résumé
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.
Domaines
Robotique [cs.RO]| Origine | Fichiers produits par l'(les) auteur(s) |
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