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For physical human–robot interaction (pHRI) where multi-contacts play a key role, both robustness to achieve robot-intended motion and adaptability to follow human-intended motion are fundamental. However, there are tradeoffs during pHRI when their intentions do not match. This paper focuses on bipedal walking control during pHRI, which handles such tradeoff when a human and a humanoid robot having different footsteps locations and durations. To resolve this, a force-reactive walking controller is proposed by adequately combining ankle and stepping strategies. The ankle strategy maintains the robot's intention based on an analytically-optimal center of pressure, leading the robot to oppose resistance to multiple contacts from the human. Based on the robot's kinodynamic constraints and/or the confidence of the robot's intention, the stepping strategy updates the robot's footsteps based on the human's intention implied by the multiple contact forces. Consequently, the proposed walking control on pHRI mutually exchanges human–robot intentions in real-time, thereby achieving coordinated steps. With a full-sized humanoid robot that is able to detect multi-contacts in real-time, we succeeded in performing a long-term “box-step” with multi-contacts pHRI, demonstrating the robustness of our approach.

The skin allows humans to interact with their surroundings safely. Despite the importance of skin to provide feedback for interactions, few autonomous machines are equipped with the sense of touch. This is due to the challenge to handle the high amount of multi-modal tactile information of large-area electronic skin. This thesis introduces novel biologically plausible methods allowing for the efficient handling of this information in complex systems whereby previous approaches failed., Die Haut befähigt Menschen sicher mit ihrer Umgebung zu interagieren. Obwohl der Tastsinn der Haut für das Feedback bei Interaktionen sehr wichtig ist, wird dieser bisher nur bei wenigen autonomen Maschinen verwendet. Grund sind die Herausforderungen bei der Verarbeitung umfangreicher, taktiler Informationen eines großflächigen, elektronischen Hautsystems. Diese Arbeit stellt daher neue, biologisch plausible Methoden vor, diese Informationen in komplexen Systemen effizient zu verarbeiten.

The skin allows humans to interact with their surroundings safely. Despite the importance of skin to provide feedback for interactions, few autonomous machines are equipped with the sense of touch. This is due to the challenge to handle the high amount of multi-modal tactile information of large-area electronic skin. This thesis introduces novel biologically plausible methods allowing for the efficient handling of this information in complex systems whereby previous approaches failed., Die Haut befähigt Menschen sicher mit ihrer Umgebung zu interagieren. Obwohl der Tastsinn der Haut für das Feedback bei Interaktionen sehr wichtig ist, wird dieser bisher nur bei wenigen autonomen Maschinen verwendet. Grund sind die Herausforderungen bei der Verarbeitung umfangreicher, taktiler Informationen eines großflächigen, elektronischen Hautsystems. Diese Arbeit stellt daher neue, biologisch plausible Methoden vor, diese Informationen in komplexen Systemen effizient zu verarbeiten.

For physical human–robot interaction (pHRI) where multi-contacts play a key role, both robustness to achieve robot-intended motion and adaptability to follow human-intended motion are fundamental. However, there are tradeoffs during pHRI when their intentions do not match. This paper focuses on bipedal walking control during pHRI, which handles such tradeoff when a human and a humanoid robot having different footsteps locations and durations. To resolve this, a force-reactive walking controller is proposed by adequately combining ankle and stepping strategies. The ankle strategy maintains the robot's intention based on an analytically-optimal center of pressure, leading the robot to oppose resistance to multiple contacts from the human. Based on the robot's kinodynamic constraints and/or the confidence of the robot's intention, the stepping strategy updates the robot's footsteps based on the human's intention implied by the multiple contact forces. Consequently, the proposed walking control on pHRI mutually exchanges human–robot intentions in real-time, thereby achieving coordinated steps. With a full-sized humanoid robot that is able to detect multi-contacts in real-time, we succeeded in performing a long-term “box-step” with multi-contacts pHRI, demonstrating the robustness of our approach., identifier:2640-4567

For physical human?robot interaction (pHRI) where multi-contacts play a key role, both robustness to achieve robot-intended motion and adaptability to follow human-intended motion are fundamental. However, there are tradeoffs during pHRI when their intentions do not match. This paper focuses on bipedal walking control during pHRI, which handles such tradeoff when a human and a humanoid robot having different footsteps locations and durations. To resolve this, a force-reactive walking controller is proposed by adequately combining ankle and stepping strategies. The ankle strategy maintains the robot's intention based on an analytically-optimal center of pressure, leading the robot to oppose resistance to multiple contacts from the human. Based on the robot's kinodynamic constraints and/or the confidence of the robot's intention, the stepping strategy updates the robot's footsteps based on the human's intention implied by the multiple contact forces. Consequently, the proposed walking control on pHRI mutually exchanges human?robot intentions in real-time, thereby achieving coordinated steps. With a full-sized humanoid robot that is able to detect multi-contacts in real-time, we succeeded in performing a long-term “box-step” with multi-contacts pHRI, demonstrating the robustness of our approach.

For physical human?robot interaction (pHRI) where multi-contacts play a key role, both robustness to achieve robot-intended motion and adaptability to follow human-intended motion are fundamental. However, there are tradeoffs during pHRI when their intentions do not match. This paper focuses on bipedal walking control during pHRI, which handles such tradeoff when a human and a humanoid robot having different footsteps locations and durations. To resolve this, a force-reactive walking controller is proposed by adequately combining ankle and stepping strategies. The ankle strategy maintains the robot's intention based on an analytically-optimal center of pressure, leading the robot to oppose resistance to multiple contacts from the human. Based on the robot's kinodynamic constraints and/or the confidence of the robot's intention, the stepping strategy updates the robot's footsteps based on the human's intention implied by the multiple contact forces. Consequently, the proposed walking control on pHRI mutually exchanges human?robot intentions in real-time, thereby achieving coordinated steps. With a full-sized humanoid robot that is able to detect multi-contacts in real-time, we succeeded in performing a long-term “box-step” with multi-contacts pHRI, demonstrating the robustness of our approach., journal article