Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 361-367
- https://doi.org/10.1109/robot.1999.770005
Abstract
This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, w e developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking(1). In this paper, we presented a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot has been able to perform dynamic stepping, walking forward and backward in a continuos time while someone is pushing or pulling its hand in such a way. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.Keywords
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