A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans

摘要

Recent advancements in deep learning and large-scale language models have driven interest in creating conversational robots capable of heartful interactions with humans. However, most existing systems are tailored for specific contexts and lack a comprehensive framework to assist humans in daily activities. Developing a fully autonomous robot that can operate alongside humans and interact with them in dynamic environments is a complex task that requires addressing particular software and hardware demands. These demands often conflict, resulting in trade-offs based on the intended application. To overcome this challenge, we propose a body design that leverages passive dynamics. We illustrate how the essential devices for computation, sensing, and actuation can be integrated into the robot without compromising its embodiment requirements. Conversely, we utilize the weight and placement of these devices to achieve the physical characteristics needed for a robotic body that is well-suited for coexistence with humans. We validate this approach through the development of Indy, a mobile communication robot platform designed to coexist with humans. The employed mechanisms enable Indy to maintain an upright posture without active control and ensure safe physical interactions. Experimental results indicate that the generated body movement positively impacts users’ perceptions, promoting a sense of anthropomorphism and enhancing the interaction experience. This confirms that the selected design approach not only provides mechanical advantages but also improves the natural appearance of the robot’s movements.