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Dokumenttyp:
Magazinartikel 
Autor(en):
Taisuke Kobayashi, Emmanuel Dean-Leon, Julio Rogelio Guadarrama-Olvera, Florian Bergner, and Gordon Cheng 
Titel:
Whole-Body Multicontact Haptic Human–Humanoid Interaction Based on Leader–Follower Switching: A Robot Dance of the “Box Step” 
Abstract:
For physical human–robot interaction (pHRI) where multi-contacts play a key role, both robustness to achieve robot-intended motion and adaptability to follow human-intended motion are fundamental. However, there are tradeoffs during pHRI when their intentions do not match. This paper focuses on bipedal walking control during pHRI, which handles such tradeoff when a human and a humanoid robot having different footsteps locations and durations. To resolve this, a force-reactive walking contr...    »
 
Zeitschriftentitel:
Advanced Intelligent Systems 
Jahr:
2021 
Reviewed:
ja 
Sprache:
en 
Volltext / DOI:
Publikationsdatum:
30.05.2021