Behavior integration for whole-body close interactions by a humanoid with soft sensor flesh

Yoshikai, Tomoaki; Hayashi, Mitsunori; Ishizaka, Yui; Sagisaka, Takashi; Inaba, Masayuki

doi:10.1109/ichr.2007.4813856

Cited by 11 publications

(10 citation statements)

References 10 publications

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“…The child-sized android CB 2 is covered entirely in soft forcesensing skin, classifies human touch to perform active and passive behaviors and furthermore learns physical behaviors from force interactions with a human teacher [20] and adapts the learned behavior based on teacher feedback [56]. 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%

“…The approach is extended in Ikemoto et al [56] by having the teacher additionally provide a critique on the timing between posture transitions. Force guidance between key postures also is used for behavior learning with the macra robot in Yoshikai et al [25]. Here tactile feedback furthermore enables behavior adaptation, where physical human assistance allows the robot to handle obstacles and the resulting motion is learned (Fig.…”

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%

“…5, left). In Yoshikai et al [25], the entire body of the small 22-DoF humanoid macra is covered in a skin that embeds 3-axis force sensors (49 in total) in a soft urethane foam (Fig. 5, right).…”

Section: Applicationsmentioning

confidence: 99%

“…Again, such information might be gathered under a variety of force sensor setups (e.g. [11,25,33]). Similar specifications typically are required for nudge detection.…”

Section: Connecting Sensors and Interactionsmentioning

confidence: 99%

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A survey of Tactile Human–Robot Interactions

Argall

Billard

2010

Robotics and Autonomous Systems

299

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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: Current State-of-the-artmentioning

confidence: 99%

Section: Interactions That Develop Robot Behaviormentioning

confidence: 99%

Section: (How It Is Used)mentioning

confidence: 99%

Section: Applicationsmentioning

confidence: 99%

“…Again, such information might be gathered under a variety of force sensor setups (e.g. [11,25,33]). Similar specifications typically are required for nudge detection.…”

Section: Connecting Sensors and Interactionsmentioning

confidence: 99%

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A survey of Tactile Human–Robot Interactions

Argall

Billard

2010

Robotics and Autonomous Systems

299

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Developing Robot Motions by Simulated Touch Sensors

Libera

Minato

Ishiguro

et al. 2008

Simulation, Modeling, and Programming for Autonomous Robots

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Touch is a very powerful but not much studied communication mean in human-robot interaction. Nonetheless many robots are not equipped with touch sensors, because it is often difficult to place such sensors over the robot surface or simply because the main task of the robot does not require them. We propose an approach that allows developing motions for a real humanoid robot by touching its 3D representation. This simulated counterpart can be equipped with touch sensors not physically available and allows the user to interact with a robot moving in slow-play, which is not possible in real world due to the changes in the dynamics. The developed interface, employing simulated touch sensors, allows inexperienced users to program robot movements in an intuitive way without any modification of the robot’s hardware. Thanks to this tool we can also study how humans employ touch for communication. We then report how simulation can be used to study user dependence of touch instructions assuring all the subjects to be in exactly the same conditions

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A New Resistive Belt Sensor for Multipoint Contact Detection of Robotic Wheels

Ebrahimi

Mardani

2018

Iran J Sci Technol Trans Mech Eng

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Behavior integration for whole-body close interactions by a humanoid with soft sensor flesh

Cited by 11 publications

References 10 publications

A survey of Tactile Human–Robot Interactions

A survey of Tactile Human–Robot Interactions

Developing Robot Motions by Simulated Touch Sensors

A New Resistive Belt Sensor for Multipoint Contact Detection of Robotic Wheels

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