Interactive biped locomotion based on visual/auditory information

摘要

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve real-time interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as step length, step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method.