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

在这项研究中，我们揭示了一种能够与人类接触并对人类交互具有注意诱导性的仿人机器人的设计方法。该设计方法基于传统关节驱动和肌肉骨骼肌腱驱动的混合型仿人机器人。从硬件的角度，研究了变刚度关节、全身肌肉、吸能盖以及停电或紧急停机时的硬件级反应，并用真实机器人进行了验证。从软件的角度，对机器人在关注环境和人类时的任务知识积累、机器人被人类干扰时的反应进行了调查和验证，为日常环境中辅助人类和向人类学习的日常辅助人形提供了重要的硬件和软件依据。

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.