Phase State System for Generating Interactive Behaviors for Humanoid Robots

Petrič, Tadej; Žlajpah, Leon

doi:10.1007/978-3-031-04870-8_58

Cited by 1 publication

(1 citation statement)

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“…The transitions between them are smooth; they can be reversed, and most importantly, they have a phase. Such an SHC system can be coupled to different robot motions, where each state corresponds to a certain final robot configuration, while the robot motion from the initial to the final state is coupled to the phase of the SHC transition [ 62 ].…”

Section: Introductionmentioning

confidence: 99%

Stable Heteroclinic Channel Networks for Physical Human–Humanoid Robot Collaboration

Brecelj

Petrič

2023

Sensors

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Human–robot collaboration is one of the most challenging fields in robotics, as robots must understand human intentions and suitably cooperate with them in the given circumstances. But although this is one of the most investigated research areas in robotics, it is still in its infancy. In this paper, human–robot collaboration is addressed by applying a phase state system, guided by stable heteroclinic channel networks, to a humanoid robot. The base mathematical model is first defined and illustrated on a simple three-state system. Further on, an eight-state system is applied to a humanoid robot to guide it and make it perform different movements according to the forces exerted on its grippers. The movements presented in this paper are squatting, standing up, and walking forwards and backward, while the motion velocity depends on the magnitude of the applied forces. The method presented in this paper proves to be a suitable way of controlling robots by means of physical human-robot interaction. As the phase state system and the robot movements can both be further extended to make the robot execute many other tasks, the proposed method seems to provide a promising way for further investigation and realization of physical human–robot interaction.

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Section: Introductionmentioning

confidence: 99%