Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2009

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.
Fichier principal
Vignette du fichier
ReactiveWalkingCameraReadyPaper3.pdf (481.19 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00507141 , version 1 (30-07-2010)

Identifiants

Citer

Olivier Stasse, Paul Evrard, Nicolas Perrin, Nicolas Mansard, Abderrahmane Kheddar. Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction. Humanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩. ⟨hal-00507141⟩
232 Consultations
647 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More