Follow-walking motions of a biped humanoid robot

H. Lim, Y. Yamamoto, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    We would like to give biped humanoid robots a follow motion as one of functions capable of supporting humans. Unfortunately, so not much attention has been paid to the researches on human-follow motions up to date. In this paper, a follow-walking control method is described to realize the follow-walking motions, which consists of a pattern synthesis and a balance motion control. First, we generate switchable unit patterns of a biped humanoid robot, based on the human-robot interaction. Second, the unit patterns are synthesized according to the sense of resultant contact forces. Finally, the compensatory motion of the trunk and waist is calculated by a cooperative motion control algorithm for the balance of the biped robot.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages1334-1339
    Number of pages6
    Volume2
    Publication statusPublished - 2000
    Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu
    Duration: 2000 Oct 312000 Nov 5

    Other

    Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CityTakamatsu
    Period00/10/3100/11/5

    Fingerprint

    Robots
    Motion control
    Human robot interaction

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Lim, H., Yamamoto, Y., & Takanishi, A. (2000). Follow-walking motions of a biped humanoid robot. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1334-1339)

    Follow-walking motions of a biped humanoid robot. / Lim, H.; Yamamoto, Y.; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2000. p. 1334-1339.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Lim, H, Yamamoto, Y & Takanishi, A 2000, Follow-walking motions of a biped humanoid robot. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, pp. 1334-1339, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, 00/10/31.
    Lim H, Yamamoto Y, Takanishi A. Follow-walking motions of a biped humanoid robot. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2. 2000. p. 1334-1339
    Lim, H. ; Yamamoto, Y. ; Takanishi, Atsuo. / Follow-walking motions of a biped humanoid robot. IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2000. pp. 1334-1339
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