Developmental Approach in Configuring Body and Behavior of Life-size Humanoids with Whole-body Passivity and Attention Inductivity

在本研究中，我们揭示了能与人接触并对人的互动具有注意感应的类人机器人的设计方法。该设计方法基于传统关节驱动型人形机器人和肌肉骨骼肌腱驱动型人形机器人的混合型。从硬件角度出发，对变刚度关节、全身肌体、吸能盖、故障或急停时的硬件级反应进行了研究，并在真实机器人上进行了验证。从软件的角度，研究了机器人在关注环境和人的过程中任务知识的积累，以及机器人在被人打断时的反应，并用实际的机器人系统进行了验证。这些研究结果为在日常环境中辅助人类并向人类学习的日常辅助类人机器人提供了重要的硬件和软件基础。

In this research, we reveal design methodology of humanoid robot which can contact with human and have attention inductivity for human interaction. This design methodology based on hybrid type of conventional joint-driven humanoids and musculoskeletal tendon-driven ones. From hardware point of view, variable stiffness joint, whole-body flesh, energy-absorbing cover, and hardware level reaction during power failure or emergency stop were investigated and validated with real robots. From software point of view, accumulation of task knowledge by paying attention to environment and human, reaction of robot when interrupted by human were investigated and validated with an actual robot system.These results provide important basis of both hardware and software for daily assistive humanoids which can assist human and learn from human in daily environment.