A follow-walking control method with a pattern switching technique was developed for a bipedal humanoid robot to follow human motion through hand contact, as an application to human-robot physical interaction. At the same a 6-axes force-torque sensor system was adopted to Wabian's hands. The control algorithm used to stabilize the dynamic cooperative biped walking of the robot is described. The algorithm computes the compensatory trunk motion from the motion of the lower limb, and the time trajectory of ZMP and hands.
|Number of pages||3|
|Publication status||Published - 1999|
ASJC Scopus subject areas
- Control and Systems Engineering