Mimetic Communication for Physical Human-Humanoid Interaction

Contributor: Dongheui Lee 

We developed an approach for behavioral communication between a human and a humanoid robot including physical contacts. Communication is designed in both symbolic and physical domains. The communication in the symbolic domain is realized through the concept of motion primitives and interaction primitives. In the physical domain, the robot adapts its motion according to the actual human’s behavior in real-time, by reshaping the motion primitive based on expected contact information which is learned. For intuitive communication and efficient learning, an imitative approach is introduced for learning of motion and interaction rules. Human motion imitation is realized by a direct marker control method in which the robot is virtually connected to the markers attached to the human via virtual springs. In that way the computation of a computationally more expensive inverse kinematics is avoided. Moreover, for performing safe contact between the human and the robot, an appropriate impedance controller, which allows to realize compliant motions and to limit the contact forces, is integrated into the system. To the best of our knowledge, this is the first work which extends imitation learning to physical human-robot interaction.

 

 


Related Publications

Journal articles

  1. Dongheui Lee, Christian Ott, and Yoshihiko Nakamura, Mimetic Communication Model with Compliant Physical Contact in Human-Humanoid Interaction. The International Journal of Robotics Research, 29(13):1684-1704, 2010
  2. Dongheui Lee and Yoshihiko Nakamura, Mimesis Model from Partial Observations for a Humanoid Robot. The International Journal of Robotics Research, 29(1):60–80, 2010

Peer-reviewed conference papers

  1. Dongheui Lee, Christian Ott and Yoshihiko Nakamura, Mimetic Communication with Impedance Control for Physical Human-Robot Interaction, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 1535-1542, Kobe, Japan, May 12-15, 2009, Finalist for the KUKA Service Robotics Best Paper Award
  2. Christian Ott, Dongheui Lee and Yoshihiko Nakamura, Mimetic Communication for Physical Human-Robot Interaction - Part I: Control, in Proc. 14th Robotics Symposia, pp. 132-139, Japan, March 16-17, 2009 (in Japanese)
  3. Dongheui Lee, Christian Ott and Yoshihiko Nakamura, Mimetic Communication for Physical Human-Robot Interaction - Part II: Interaction Learning, in Proc. 14th Robotics Symposia, pp. 386-392, Japan, March 16-17, 2009 (in Japanese)
  4. Dongheui Lee, Christian Ott, Yoshihiko Nakamura and Gerd Hirzinger, Physical Human Robot Interaction in Imitation Learning, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp 3439-3440, 2011