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Pepper Humanoid Robot Controller for Autonomous Human Physical Assistance

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Pepper shouldn’t need any introduction. It is a smart humanoid robot that can take on a variety of tasks. This video form IDH LIRMM shows how these robots can be enhanced with a finite state machine quadratic programming whole-body controller to initiate physical assistance. The robot automatically navigates towards the human using visual feedback from a Kinect camera. As the researchers explain:

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Following the navigation process, the robot performs multi-modal communication of intent, to ensure that the human is aware of the robot plan for initiating the assistance process. After the communication, the robot proceeds to establish several physical contacts with the human via monitoring of joint position tracking error residual signal for contact detection

[HT]

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