Physical Interaction Between Human and a Bipedal Humanoid Robot: Realization of Human-Follow Walking
نویسندگان
چکیده
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[1]. 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 continuos 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.
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