Toward Autonomous, Compliant, Omnidirectional Humanoid Robots for Natural Interaction in Real-Life Settings

摘要

Abstract The field of robotics has made steady progress in the pursuit of bringing autonomous machines into real-life settings. Over the last 3 years, we have seen omnidirectional humanoid platforms that now bring compliance, robustness and adaptiveness to handle the unconstrained situations of the real world. However, today’s contributions mostly address only a portion of the physical, cognitive or evaluative dimensions, which are all interdependent. This paper presents an overview of our attempt to integrate as a whole all three dimensions into a robot named Johnny-0. We present Johnny-0’s distinct contributions in simultaneously exploiting compliance at the locomotion level, in grounding reasoning and actions through behaviors, and in considering all possible factors experimenting in the wildness of the real world.