The interactive motion control for a small humanoid robot

摘要

We have been developing a small biped entertainment robot and expanding its capabilities for the adaptability and interactivity with human in home environment. SDR-4X III is the refused and enhanced model that has capabilities by adaptive functions for physical interaction with human. We proposed the creative motion planning framework, the motion planning system for SBR-4X III to enable adaptive drawing performance in 3D world. It is realized by the motion control under kinematic constraints and the position-based impedance control. In order to explore and evaluate she physically interactive capabilities by human and SDR-4X III, we proposed and demonstrated the handguided interaction by human manipulation and interactive performance through the physical interface of the holding object under she both limbs' coordinated motion control of SDR-4X III.