@InProceedings{agravante:icra:2016,
  author    = {Agravante, Don Joven and Laumond, Jean-Paul and Wieber, Pierre-Brice and Cherubini, Andrea and Kheddar, Abderrahmane},
  title     = {Walking pattern generators designed for physical collaboration},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year      = {2016},
  address   = {Stockholm, Sweden},
  month     = {May 16-May 21},
  url       = {https://hal.archives-ouvertes.fr/hal-01274791/file/2016-icra-agravante.pdf},
  keywords  = {Humanoid walking, human-humanoid physical interaction, model-predictive control},
  doi       = {10.1109/ICRA.2016.7487296},
  abstract  = {This paper is about the design of humanoid walking pattern generators to be used for physical collaboration. A particular use case is a humanoid robot helping a human to carry large and/or heavy objects. To do this, we construct a reduced model which takes into account physical interaction. This is used in a model predictive control framework to generate separate behaviors for being a follower or a leader. The approach is then validated both on simulation and on the HRP-4 humanoid robot.}
}