This paper describes a practical method to construct real-time controllers to achieve locomotion and manipulation tasks with a humanoid robot. We propose a method to insert emergency stop functionality to each layer to avoid robot's falling down and joint overloads even if recognition and planning error exist. We explain implementation of multi-layered real-time controllers on HRP2 robot and application to several manipulation and locomotion tasks. Finally, we evaluate emergency stop functionality in several manipulation tasks.
['Shunichi Nozawa', 'Eisoku Kuroiwa', 'Kunio Kojima', 'Ryohei Ueda', 'Masaki Murooka', 'Shintaro Noda', 'Iori Kumagai', 'Yu Ohara', 'Yohei Kakiuchi', 'Kei Okada', 'Masayuki Inaba']
Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop