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

  • Authors:

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

  • Affiliations:

  • Intelligent Autonomous Systems Laboratory, Department of Information Engineering (DEI), Faculty of Engineering, University of Padua, Via Gradenigo 6/a, I-35131 Padua, Italy;ERATO, Japan Science and Technology Agency, Osaka University, Suita, Osaka, 565-0871, Japan;The University of Texas at Austin, Department of Computer Sciences, 1 University Station C0500, Taylor Hall 2.124, Austin, USA;Department of Adaptive Machine Systems, Osaka University, Suita, Osaka, 565-0871, Japan and ERATO, Japan Science and Technology Agency, Osaka University, Suita, Osaka, 565-0871, Japan;Intelligent Autonomous Systems Laboratory, Department of Information Engineering (DEI), Faculty of Engineering, University of Padua, Via Gradenigo 6/a, I-35131 Padua, Italy;Intelligent Autonomous Systems Laboratory, Department of Information Engineering (DEI), Faculty of Engineering, University of Padua, Via Gradenigo 6/a, I-35131 Padua, Italy

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2009

Quantified Score

Hi-index 0.00

Visualization

Abstract

Most humanoid soccer robot teams design the basic movements of their robots, like walking and kicking, off-line and manually. Once these motions are considered satisfactory, they are stored in the robot's memory and played according to a high level behavioral strategy. Much time is spent in the development of the movements, and despite the significant progress made in humanoid soccer robots, the interfaces employed for the development of motions are still quite primitive. In order to accelerate development, an intuitive instruction method is desired. We propose the development of robot motions through physical interaction. In this paper we propose a ''teaching by touching'' approach; the human operator teaches a motion by directly touching the robot's body parts like a dance instructor. Teaching by directly touching is intuitive for instructors. However, the robot needs to interpret the instructor's intention since tactile communication can be ambiguous. This paper presents a method to learn the interpretation of the touch meaning and investigates, through experiments, a general (shared among different users) and intuitive touch manner.