Physical Interference and Contact (PIFACT) Adapting Behaviors in Human Symbiotic Robots - Active-Contact Recognition Based on Feature Presumption of Contact on Human Receiver

摘要

In this paper, we propose a design method of active-contact recognition that allows a robot (touch initiator) to come into contact with human (receiver). This method enables the touch initiator robot to presume contact features probably sensed on the receiver's body (pressure, contact area, distance moved, etc.), based on tactile and motion information coordination and to identify the contact state from the receiver's viewpoint using passive-contact recognition method. Finally, active-contact experiments demonstrating the touch initiator robot successfully recognizes the contact state in the same way as the receiver does confirm the effectiveness of the proposed method.