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Toward autonomous, compliant, omnidirectional humanoid robots for natural interaction in real-life settings

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Paladyn

Abstract

The field of robotics has made steady progress in the pursuit of bringing autonomous machines into real-life settings. Over the last 3 years, we have seen omnidirectional humanoid platforms that now bring compliance, robustness and adaptiveness to handle the unconstrained situations of the real world. However, today’s contributions mostly address only a portion of the physical, cognitive or evaluative dimensions, which are all interdependent. This paper presents an overview of our attempt to integrate as a whole all three dimensions into a robot named Johnny-0. We present Johnny-0’s distinct contributions in simultaneously exploiting compliance at the locomotion level, in grounding reasoning and actions through behaviors, and in considering all possible factors experimenting in the wildness of the real world.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Université de Sherbrooke, Québec, Canada, J1K 2R1

    François Michaud, François Ferland, Dominic Létourneau & Marc-Antoine Legault

  2. Western Switzerland (HES-SO), University of Applied Sciences, Geneva, Switzerland

    Michel Lauria

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  1. François Michaud
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  2. François Ferland
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  3. Dominic Létourneau
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  4. Marc-Antoine Legault
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  5. Michel Lauria
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Corresponding author

Correspondence to François Michaud.

Additional information

F. Michaud holds the Canada Research Chair (CRC) in Mobile Robotics and Autonomous Intelligent Systems. Support for this work is provided by the Natural Sciences and Engineering Research Council of Canada, the Canada Research Chair program and the Canadian Foundation for Innovation.

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Michaud, F., Ferland, F., Létourneau, D. et al. Toward autonomous, compliant, omnidirectional humanoid robots for natural interaction in real-life settings. Paladyn 1, 57–65 (2010). https://doi.org/10.2478/s13230-010-0003-3

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