Holding hands - Guiding humanoid walking using sensorless force control

Jacek Dąbrowski, Polychronis Kondaxakis, Ville Kyrki*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

3 Citations (Scopus)

Abstract

This paper presents a physical human-robot interaction (pHRI) interface, which enables the user to control a walking humanoid robot through physical contact. A human operator guides the robot in parent-child-like behavior by exerting force onto the hand of the robot. In contrast to a conventional approach of pHRI in which force/torque measurements are applied, the proposed solution is based on sensorless force control. Furthermore, we demonstrate an extension to the generic interface by implementing a number of gait control algorithms. This paper also evaluates user-acceptable robot responses while guiding a humanoid robot walking. User opinion on the presented control solution is evaluated through usability testing conducted among prospective users. The obtained results indicate that the developed interfaces present an effective solution to the problem of sensorless guidance of a walking robot.

Original languageEnglish
Title of host publicationIEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions
PublisherIEEE
Pages180-185
Number of pages6
ISBN (Print)9781479967636
DOIs
Publication statusPublished - 15 Oct 2014
MoE publication typeA4 Article in a conference publication
EventIEEE International Symposium on Robot and Human Interactive Communication - Edinburgh, United Kingdom
Duration: 25 Aug 201429 Aug 2014
Conference number: 23

Conference

ConferenceIEEE International Symposium on Robot and Human Interactive Communication
Abbreviated titleIEEE RO-MAN
CountryUnited Kingdom
CityEdinburgh
Period25/08/201429/08/2014

Keywords

  • humanoid robots
  • physical human-robot interaction (pHRI)
  • robotics

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