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Communication Dans Un Congrès Année : 2016

Walking pattern generators designed for physical collaboration

Résumé

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.
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Dates et versions

hal-01274791 , version 1 (16-02-2016)
hal-01274791 , version 2 (02-03-2016)

Identifiants

Citer

Don Joven Agravante, Alexander Sherikov, Pierre-Brice Wieber, Andrea Cherubini, Abderrahmane Kheddar. Walking pattern generators designed for physical collaboration. ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1573-1578, ⟨10.1109/ICRA.2016.7487296⟩. ⟨hal-01274791v2⟩
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