Human and humanoid robot interaction using 6-axis force torque sensors

This paper presents a human and humanoid robot interaction method using 6-axis force/torque sensors. The Zero Moment Point (ZMP) can be calculated in real time when external forces from human act on the robot. Then the robot will perceive the human intention and walk along the direction where ZMP is moving. We develop a unified formulation of real-time ZMP detection system using 6-axis force/torque sensor in the framework of Lie group. Then the robot is controlled to walk along the ZMP moving direction. Experiment is conducted to verify the effectiveness of the proposed human-robot interaction control system.