This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking[1]. In this paper, we presented a follow-walking control method ...

In this paper, the concept of human-robot-team is presented. Because of its high flexibility and adaptability, the human-robot cooperation is expected to have a wide range of applications in uncertain environments, not only in future construction and manufacturing industries but also in service branches. A multi-agent control architecture gives an appropriate frame for the flexibility of the hu...

We present the application of a vision algorithm based on Harr-like features in Bubblegrams a new mixed reality-based human-robot interaction (HRI) technique. Bubblegrams allows humans and robots working on collocated synchronous tasks to interact directly by visually augmenting their shared physical environment. Bubblegrams uses comics-like interactive graphic balloons or bubbles that appear a...

Domestic service robots are designed for human environment. Therefore, the robot should be controlled by means of natural interactions rather than the common controllers used in laboratory setting (e.g. keyboard or joypad). In this paper, a feature for controlling a domestic service robot through physical interaction is presented. The feature showcases the utilization of the robot's manipulator...

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus facilitating the performance of human partner and possibly minimising physical effort needed grasp object. However, altruistic robot behaviours may result in protracted awkward motions, contributing unpleasant sensations by affecting perceived safety social accep...

As the use of humanoid robots proliferates, an increasing amount people may find themselves face-to-“face” with a robot in everyday life. Although there is plethora information available on facial social cues and how we interpret them field human-human interaction, cannot assume that these findings flawlessly transfer to human-robot interaction. Therefore, more research interaction required. Th...

Physical human-robot interaction has the potential to be useful in a number of domains, but this will depend on how people respond to the robot’s actions. For some domains, such as healthcare, a robot is likely to initiate physical contact with a person’s body. In order to investigate how people respond to this type of interaction, we conducted an experiment with 56 people in which a robotic nu...