Physical interaction between a human and humanoid through hand contact

Atsuo Takanishi, Sang Ho Hyon, Samuel Agus Setiawan, Jin'ichi Yamaguchi

    Research output: Contribution to journalArticle

    Abstract

    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.

    Original languageEnglish
    Pages (from-to)303-305
    Number of pages3
    JournalAdvanced Robotics
    Volume13
    Issue number3
    Publication statusPublished - 1999

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    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Takanishi, A., Hyon, S. H., Setiawan, S. A., & Yamaguchi, J. (1999). Physical interaction between a human and humanoid through hand contact. Advanced Robotics, 13(3), 303-305.