In order to explore principles of communicative and intelligent robots, it is necessary to realize tight interaction between human and robot. Existing robots typically use powerful electrical motors, which make it dangerous for us to tightly interact with them. The soft skin and flexible actuators (which do not strongly fight against an external force) increase the safety and promote feelings of security, inviting more natural interaction from people.
The developed humanoid robot CB2 satisfies theses requirements and furthermore can generate flexible and dynamic movements. People can naturally and tightly interact with CB2 in many ways, such as "help CB2 stand up by holding it" and "teach a body motion by directly moving its limbs." We can study the development of robot social skills through interaction with a human helper. Moreover, it is expected to develop a robot that can adaptively behave in a human society through studies on development.
This study is conducted by Sosio-Synergistic Intelligence group (Group Leader: Hiroshi Ishiguro, a professor of Osaka University) as a part of ERATO Asada Synergistic Intelligence project of Japan Science and Technology Agency (Project Director: Minoru Asada, a professor of Osaka university).
Research background
In order to develop a robot that can coexist in a complex human society, it is important to elucidate a mechanism of development of communication ability. We explore principles of communicative and intelligent machines and human social development based on studies on emergence of human intelligence. These studies require a humanoid robot which can naturally interact with people.
Existing human-sized humanoid robots typically have powerful electrical motors and a hard metal body which make it dangerous for us to tightly and naturally interact with them. Moreover, a tactile sensation of robots was not regarded as important although it is necessary for interaction with human as well as vision and audition.
Achievements
In this study we have developed a human-sized humanoid robot CB2 that has flexible pneumatic actuators and a whole-body soft skin with tactile sensors. It is about 130 cm high and about 33 kg. It has fifty-six actuators throughout its body and therefore can generate various whole-body movements. In addition to gross body movements, it can also make facial expressions. All the body parts except for the eyeballs and eyelids are driven by the flexible pneumatic actuators and the whole-body is covered with a soft silicone skin for natural interactions with people. Vision is realized by cameras mounted inside the eyeballs. Audition is realized by microphones mounted both on the head, and located externally, around CB2. The tactile sensation is realized by the tactile sensors embedded beneath the skin. Thanks to the soft skin and flexible actuators, people can naturally and tightly interact with CB2 in many ways, such as "help CB2 stand up by holding it" and "teach a body motion by directly moving its limbs."
Future works
The ability to communicate and establish relationships with humans cannot be simply programmed into a robot. The robot must develop these skills much as humans do from early childhood on. Moreover, just as in childhood, other humans' help is necessary to aid normal development. We therefore study the development of robot social skills through interaction with a human helper. As mentioned above, CB2 provides tight interaction with people. Furthermore, the child-like appearance and child-sized body help to stimulate the human to engage in natural child-caregiver interactions. We perform studies on the development of interpersonal responsive behaviors, motion capabilities, and sensory-motor organization while developing natural interaction between CB2 and humans. Thus, by implementing our various studies in CB2 and creating a child-like robot, we also tackle important questions in human social development.
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