A new paradigm of humanoid robot motion programming based on touch interpretation

Libera, Fabio Dalla; Minato, Takashi; Fasel, Ian; Ishiguro, Hiroshi; Pagello, Enrico; Menegatti, Emanuele

doi:10.1016/j.robot.2009.03.013

Cited by 12 publications

(4 citation statements)

References 17 publications

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“…The goal of contact with a human in this section is to produce adaptive and compliant robot behaviors, using a more flexible alternative to behavior development by hand. Tactile feedback is employed for the development of robot motion behaviors in the ''Teaching by Touching'' paradigm of DallaLibera et al [55]. 9 Here the robot responds to the teacher's touch pattern, and if the response is not what was intended, a means other than touch (e.g.…”

Section: Interactions That Develop Robot Behaviormentioning

confidence: 99%

“…Advanced work within this branch also goes beyond interpreting the intentions of the human with whom the robot is interacting, to inferring a natural human-like response to the touch [23]. Within the topic of developmental contact, the state-of-the-art uses learning algorithms to exploit human touch for the adaptation or refinement of existing behaviors, as well as for the development of new task-accomplishing behaviors [25,28,44,55,56].…”

Section: (How It Is Used)mentioning

confidence: 99%

“…The smaller humanoid macra similarly is covered entirely in a soft force-sensing skin and learns behavior from force-guidance by a human teacher, and furthermore adapts existing behaviors by responding to human touch provided for assistive purposes [25]. 15 15 Note that the future work proposed in Minato et al [45] to implement the ''Teaching by Touching'' paradigm of DallaLibera et al [55] on the BabyBot also would represent an intersection between the state-of-the-art in both fields.…”

Section: Current State-of-the-artmentioning

confidence: 99%

“…When used for behavior development however, the robot would learn the behavior produced by human guidance, and the guidance thus would not be required every time the robot operates. Works that step in this direction have guided transitions between robot postures [20,25,56] or provided corrections on a robot pose [44,55], but none have used tactile guidance to generate complete robot motion behaviors for learning.…”

Section: Human-guided Behavior Developmentmentioning

confidence: 99%

See 3 more Smart Citations

A survey of Tactile Human–Robot Interactions

Argall

Billard

2010

Robotics and Autonomous Systems

286

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a b s t r a c tRobots come into physical contact with humans in both experimental and operational settings. Many potential factors motivate the detection of human contact, ranging from safe robot operation around humans, to robot behaviors that depend on human guidance. This article presents a review of current research within the field of Tactile Human-Robot Interactions (Tactile HRI), where physical contact from a human is detected by a robot during the execution or development of robot behaviors. Approaches are presented from two viewpoints: the types of physical interactions that occur between the human and robot, and the types of sensors used to detect these interactions. We contribute a structure for the categorization of Tactile HRI research within each viewpoint. Tactile sensing techniques are grouped into three categories, according to what covers the sensors: (i) a hard shell, (ii) a flexible substrate or (iii) no covering. Three categories of physical HRI likewise are identified, consisting of contact that (i) interferes with robot behavior execution, (ii) contributes to behavior execution and (iii) contributes to behavior development. We populate each category with the current literature, and furthermore identify the stateof-the-art within categories and promising areas for future research.

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Section: Interactions That Develop Robot Behaviormentioning

confidence: 99%