Exploring robust, intuitive and emergent physical human-robot interaction with the humanoid Acroban - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2011

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

Pierre-Yves Oudeyer
Olivier Ly
Pierre Rouanet

Abstract

We present how a humanoid robot, called Acroban, allows whole-body robust, natural and intuitive physical interac- tion 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 light- weight; 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.
Fichier principal
Vignette du fichier
AcrobanHumanoids2011.pdf (168.27 Ko) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

hal-00652126 , version 1 (26-04-2013)

Identifiers

  • HAL Id : hal-00652126 , version 1

Cite

Pierre-Yves Oudeyer, Olivier Ly, Pierre Rouanet. Exploring robust, intuitive and emergent physical human-robot interaction with the humanoid Acroban. IEEE-RAS International Conference on Humanoid Robots, 2011, Bled, Slovenia. ⟨hal-00652126⟩
351 View
269 Download

Share

Gmail Mastodon Facebook X LinkedIn More