Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces

IEEE Transactions on Robotics

Volumn 23, Issue 5, 2007, Pages 884-898

  Hyon, Sang Ho ^a,b   Hale, Joshua G ^a,b   Cheng, Gordon ^a,b  

^a JAPAN SCIENCE AND TECHNOLOGY AGENCY   (Japan)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

Balance; Biped robot; Compliance; Force control; Full body motion control; Human humanoid interaction; Passivity; Redundancy

Indexed keywords

BIPED LOCOMOTION; FORCE CONTROL; HUMAN COMPUTER INTERACTION; MAN MACHINE SYSTEMS; MOBILE ROBOTS; POSITION CONTROL; REDUNDANCY;

FULL-BODY MOTION CONTROL; HUMAN-HUMANOID INTERACTION;

ROBOTICS;

EID: 35348909627     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.904896     Document Type: Conference Paper

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