Walking pattern generators designed for physical collaboration

Don Joven Agravante 1 Alexander Sherikov 2 Pierre-Brice Wieber 2 Andrea Cherubini 1 Abderrahmane Kheddar 1, 3
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
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.
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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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