Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
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| Main Authors: | , , , , , , , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916567843864576 |
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| author | Benallegue, Mehdi Lorthioir, Guillaume Dallard, Antonin Cisneros-Limón, Rafael Kumagai, Iori Morisawa, Mitsuharu Kaminaga, Hiroshi Murooka, Masaki Andre, Antoine Gergondet, Pierre Kaneko, Kenji Caron, Guillaume Kanehiro, Fumio Kheddar, Abderrahmane Yukizaki, Soh Karasuyama, Junichi Murakami, Junichi Kamon, Masayuki |
| author_facet | Benallegue, Mehdi Lorthioir, Guillaume Dallard, Antonin Cisneros-Limón, Rafael Kumagai, Iori Morisawa, Mitsuharu Kaminaga, Hiroshi Murooka, Masaki Andre, Antoine Gergondet, Pierre Kaneko, Kenji Caron, Guillaume Kanehiro, Fumio Kheddar, Abderrahmane Yukizaki, Soh Karasuyama, Junichi Murakami, Junichi Kamon, Masayuki |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_20770 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context Benallegue, Mehdi Lorthioir, Guillaume Dallard, Antonin Cisneros-Limón, Rafael Kumagai, Iori Morisawa, Mitsuharu Kaminaga, Hiroshi Murooka, Masaki Andre, Antoine Gergondet, Pierre Kaneko, Kenji Caron, Guillaume Kanehiro, Fumio Kheddar, Abderrahmane Yukizaki, Soh Karasuyama, Junichi Murakami, Junichi Kamon, Masayuki Robotics Human-Computer Interaction 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. |
| title | Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2412.20770 |