Hand-position Oriented Humanoid Walking Motion Control System

This paper addresses a method of constructing a control system that realizes desired absolute hand position trajectory while walking. Controlling hand position in the absolute coordinate system with short delay while walking is a important function for realizing such motions as visual feedback reaching while walking, walking using handrail, and opening doors while walking. Based on previously developed online walking control system, fast dynamically stable walking trajectory generation system that preserves designed hand trajectory in absolute coordinate system, and sensor feedback balance maintaining system that also preserves given hand position are developed. Then a torso transition planner that generates desired torso movement of every one step from the absolute hand trajectory is implemented. A hand position operation experiment with “3D mouse”, a reaching experiment with visual feedback, and a guiding experiment using 6-axis force sensor at wrists are shown to demonstrate the performance of the system.