Walking pattern generators designed for physical collaboration

Don Joven Agravante; Alexander Sherikov; Pierre-Brice Wieber; Andrea Cherubini; Abderrahmane Kheddar

ICRA 201632 citations

Walking pattern generators designed for physical collaboration

Don Joven Agravante, Alexander Sherikov, Pierre-Brice Wieber, Andrea Cherubini, Abderrahmane Kheddar

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.

BibTeX

@inproceedings{icra2016_walkingpatternge,
  title = {Walking pattern generators designed for physical collaboration},
  author = {Don Joven Agravante and Alexander Sherikov and Pierre-Brice Wieber and Andrea Cherubini and Abderrahmane Kheddar},
  booktitle = {ICRA 2016},
  year = {2016}
}