Stable Heteroclinic Channel Networks for Physical Human-Humanoid Robot Collaboration

Area of Science:

• Robotics
• Control Systems
• Human-Robot Interaction

Background:

• Human-robot collaboration is a complex field requiring robots to interpret human intentions.
• Despite extensive research, practical human-robot collaboration remains in early development stages.
• Existing methods often struggle with intuitive and adaptable robot control.

Purpose of the Study:

• To develop a novel control system for humanoid robots based on physical interaction.
• To demonstrate the efficacy of a phase state system guided by stable heteroclinic channels for robot control.
• To enable robots to perform dynamic movements in response to human-exerted forces.

Main Methods:

• A mathematical model for a phase state system was defined and tested on a three-state system.
• An eight-state system was applied to a humanoid robot for movement control.
• Robot movements (squatting, standing, walking) were governed by forces applied to its grippers.

Main Results:

• The phase state system successfully guided the humanoid robot through various movements.
• Robot motion velocity was directly correlated with the magnitude of applied forces.
• The system demonstrated effective control via physical human-robot interaction.

Conclusions:

• The proposed phase state system offers a viable method for controlling robots through physical interaction.
• The approach is adaptable and can be extended for a wider range of robot tasks.
• This research presents a promising direction for advancing physical human-robot interaction.