A handy humanoid robot navigation by non-interruptive switching of guided point and synergetic points

A handy humanoid robot navigation scheme is proposed. The whole-body motion of the robot is orchestrated from a motion of a manually guided body part by an input device and that of synergetically coordinated body parts. Even though a simple input device such as a joystick is used, a variety of motions are realized in realtime by switching the directly-guided point without interruptions. The key technique to guarantee the motion achievement is to design a motion segment with a duration from the beginning to the termination from a set of consistent subgoals. An interactive humanoid navigation system with a joystick is presented based on the scheme. The validity of the proposed method is shown through both simulation and real robot operations.