Follow-walking motions of a biped humanoid robot

Hun ok Lim, Yousuke Yamamoto, Atsuo Takanishi

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


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
Pages (from-to)1334-1339
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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