Emergency Stop for Humanoid Robots

We propose a new emergent stop method for humanoid robots. By modifying the predefined ZMP trajectory if a walking robot receives a stop signal from operator, the robot can change the current motion. In addition, we make the modification criteria for stable change of the next foothold. In this method, the humanoid robot can stop immediately within one step to avoid a collision, if humans or objects appeared unexpectedly in front of the walking humanoid robot.