Online master-slave footstep control for dynamical human-robot synchronization with wearable sole sensor

In this study, the authors aim to let us control the whole body of humanoid robot dynamically as we want. For that, the authors focused on the direct control of the humanoid leg that is the most severe problem with humanoid tele-operation. The authors implemented online real-time human motion imitation system for humanoid with its dynamics influence considered. In that system, the authors assume both operator and robot as a linear inverted pendulum, and apply human's COM, ZMP, and both feet positions for robot control input. The system includes two 6-axis force sensor under the operator's sole, and the sensors can precisely detect contact of human's sole. Finally the authors succeeded to control two robots that have different COM height configuration.