At IEEE-RAS International Conference on Humanoid Robots (Humanoids 2019) held in Toronto, Canada, I presented the following topic.
“Multi-Contacts Force-Reactive Walking Control During Physical Human-Humanoid Interaction”
In addition, I presented my research in the workshop, which is held with that conference.
This study is one of the collaboration works with Technical University of Munich (TUM). In this study, we proposed the framework to accomplish walking control under the situation where the robot has multiple contacts with human. Specifically, the applied forces to the robot are measured using the robotic skin cells, which are developed in TUM. That forces are compensated first by the ankle strategy to keep the nominal footstep, and after that, the non-compensated forces are used to activate the stepping strategy to adjust the footstep.