An intelligent joystick for biped control
- 10 July 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
—We present the concept of an “intelligent” joystick, an architecture which provides simple and intuitive high-level directional control of a legged,robot while adjusting,the actual foot placements,autonomously,to avoid stepping,in undesirable places. The general,concept,can be likened to riding a horse: high-level commands are provided, while the “intelligence” of the underlying,system,selects proper,foot placements,with respect to the shape,and,properties of the underlying,terrain and,overall balance considerations. We demonstrate,a prototype,system,used for realtime control of the humanoid,robot HRP-2.Keywords
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