Walking pattern generators designed for physical collaboration


This paper is about the design of humanoid walking pattern generators to be used for physical collaboration. A particular use case is a humanoid robot helping a human to carry large and/or heavy objects. To do this, we construct a reduced model which takes into account physical interaction. This is used in a model predictive control framework to generate… (More)
DOI: 10.1109/ICRA.2016.7487296


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@article{Agravante2016WalkingPG, title={Walking pattern generators designed for physical collaboration}, author={Don Joven Agravante and Alexander Sherikov and Pierre-Brice Wieber and Andrea Cherubini and Abderrahmane Kheddar}, journal={2016 IEEE International Conference on Robotics and Automation (ICRA)}, year={2016}, pages={1573-1578} }