An Intelligent Joystick for Biped Control

Joel Chestnutt, Philipp Michel, Koichi Nishiwaki, James Kuffner and Satoshi Kagami
Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 860 - 865, May, 2006

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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.

author = {Joel Chestnutt and Philipp Michel and Koichi Nishiwaki and James Kuffner and Satoshi Kagami},
title = {An Intelligent Joystick for Biped Control},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2006},
month = {May},
pages = {860 - 865},
keywords = {biped, navigation, legged robots},
} 2017-09-13T10:42:49-04:00