2020
Material Handling by Humanoid Robot While Pushing Carts Using a Walking Pattern Based on Capture Point
ICRA 2020poster
This paper presents a study that evaluates the effects on the walking pattern of a full-sized humanoid robot as it pushes different carts. Furthermore, it discuss a modified Zero Moment Point (ZMP) pattern based on a capture point method, and a friction compensation method for the arms. Humanoid res…