Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking

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

*この研究の対応する著者

研究成果: Conference article査読

79 被引用数 (Scopus)

抄録

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, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking. 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 continuous 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.

本文言語English
ページ(範囲)361-367
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 1999 1 1
イベントProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
継続期間: 1999 5 101999 5 15

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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