Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
著者: Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard, Rafael Cisneros-Limón, Iori Kumagai, Mitsuharu Morisawa, Hiroshi Kaminaga, Masaki Murooka, Antoine Andre, Pierre Gergondet, Kenji Kaneko, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar, Soh Yukizaki, Junichi Karasuyama, Junichi Murakami, Masayuki Kamon
分類: cs.RO, cs.HC
原文アブストラクト
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present its potential use in nursing by extending its capabilities to operate human devices and tools according to the task and by enabling remote assistance operations. To meet a wide variety of tasks and situations in environments designed by and for humans, we developed a system that seamlessly integrates the slim and lightweight robot and several technologies: locomanipulation, multi-contact motion, teleoperation, and object detection and tracking. We demonstrated the system's usage in a nursing application. The robot efficiently performed the daily task of patient transfer and a non-routine task, represented by a request to operate a circuit breaker. This demonstration, held at the 2023 International Robot Exhibition (IREX), conducted three times a day over three days.