NDLI: Exploring robust, intuitive and emergent physical human-robot interaction with the humanoid robot Acroban

Content Provider	IEEE Xplore Digital Library
Author	Oudeyer, P.-Y. Ly, O. Rouanet, P.
Copyright Year	2011
Description	Author affiliation: INRIA/University of Bordeaux, France (Ly, O.) \|\| INRIA, France (Oudeyer, P.-Y.; Rouanet, P.)
Abstract	We present how a humanoid robot, called Acroban, allows whole-body robust, natural and intuitive physical interaction with both adults and children. These physical human-robot interaction are made possible through the combination of several properties of Acroban: 1) it is whole-body compliant thanks to variable impedance control and also thanks to the use of elastics and springs; 2) it has a bio-inspired vertebral column allowing more flexibility in postural and equilibrium control; 3) it is lightweight; 4) it has simple low-level controllers that leverage the first three properties. Moreover, the capabilities for physical human-robot interaction that we show are not using a model of the human, and in this sense are “model free”: 1) the capability of the robot to keep its equilibrium while being manipulated or pushed by humans is a result of the intrinsic capability of the whole body to absorb unpredicted external perturbations; 2) the capability of leading Acroban by the hand is an emergent human-robot interface made possible by the self-organizing properties of the body and its low-level controllers and was observed a posteriori only after the robot was conceived and without any initial plan to make this possible. Finally, an originality of Acroban is that is is made with relatively low-cost components which lack of precision is counterbalanced with the robustness due to global geometry and compliance.
Starting Page	120
Ending Page	127
File Size	722241
Page Count	8
File Format	PDF
ISBN	9781612848662
ISSN	21640580
e-ISBN	9781612848686
e-ISBN	9781612848679
DOI	10.1109/Humanoids.2011.6100852
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Slovenia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot kinematics Humans Robustness Joints Videos
Content Type	Text
Resource Type	Article

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