A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans
Recent advancements in deep learning and large-scale language models have driven interest in creating conversational robots capable of heartful interactions with humans. However, most existing systems are tailored for specific contexts and lack a comprehensive framework to assist humans in daily act...
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10975748/ |
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| author | Huthaifa Ahmad Yuya Okadome Yasutomo Kawanishi Koichiro Yoshino Takashi Minato Michihiko Minoh Yutaka Nakamura |
| author_facet | Huthaifa Ahmad Yuya Okadome Yasutomo Kawanishi Koichiro Yoshino Takashi Minato Michihiko Minoh Yutaka Nakamura |
| author_sort | Huthaifa Ahmad |
| collection | DOAJ |
| description | Recent advancements in deep learning and large-scale language models have driven interest in creating conversational robots capable of heartful interactions with humans. However, most existing systems are tailored for specific contexts and lack a comprehensive framework to assist humans in daily activities. Developing a fully autonomous robot that can operate alongside humans and interact with them in dynamic environments is a complex task that requires addressing particular software and hardware demands. These demands often conflict, resulting in trade-offs based on the intended application. To overcome this challenge, we propose a body design that leverages passive dynamics. We illustrate how the essential devices for computation, sensing, and actuation can be integrated into the robot without compromising its embodiment requirements. Conversely, we utilize the weight and placement of these devices to achieve the physical characteristics needed for a robotic body that is well-suited for coexistence with humans. We validate this approach through the development of Indy, a mobile communication robot platform designed to coexist with humans. The employed mechanisms enable Indy to maintain an upright posture without active control and ensure compliance during physical interactions. Experimental results indicate that the generated body movement positively impacts users’ perceptions, promoting a sense of anthropomorphism and enhancing the interaction experience. This confirms that the selected design approach not only provides mechanical advantages but also improves the natural appearance of the robot’s movements. |
| format | Article |
| id | doaj-art-57eaeb4a3c2f4c8a871d95d6509cc47a |
| institution | DOAJ |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-57eaeb4a3c2f4c8a871d95d6509cc47a2025-08-20T03:11:21ZengIEEEIEEE Access2169-35362025-01-0113748877489910.1109/ACCESS.2025.356398210975748A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With HumansHuthaifa Ahmad0https://orcid.org/0000-0002-8865-955XYuya Okadome1https://orcid.org/0009-0008-2961-8417Yasutomo Kawanishi2https://orcid.org/0000-0002-3799-4550Koichiro Yoshino3https://orcid.org/0000-0001-6579-361XTakashi Minato4https://orcid.org/0000-0003-4071-1352Michihiko Minoh5Yutaka Nakamura6https://orcid.org/0000-0001-6307-5104RIKEN Information Research and Development and Strategy Headquarters, RIKEN, Kyoto, JapanDepartment of Information and Computer Technology, Tokyo University of Science, Tokyo, JapanRIKEN Information Research and Development and Strategy Headquarters, RIKEN, Kyoto, JapanRIKEN Information Research and Development and Strategy Headquarters, RIKEN, Kyoto, JapanRIKEN Information Research and Development and Strategy Headquarters, RIKEN, Kyoto, JapanRIKEN Information Research and Development and Strategy Headquarters, RIKEN, Kyoto, JapanRIKEN Information Research and Development and Strategy Headquarters, RIKEN, Kyoto, JapanRecent advancements in deep learning and large-scale language models have driven interest in creating conversational robots capable of heartful interactions with humans. However, most existing systems are tailored for specific contexts and lack a comprehensive framework to assist humans in daily activities. Developing a fully autonomous robot that can operate alongside humans and interact with them in dynamic environments is a complex task that requires addressing particular software and hardware demands. These demands often conflict, resulting in trade-offs based on the intended application. To overcome this challenge, we propose a body design that leverages passive dynamics. We illustrate how the essential devices for computation, sensing, and actuation can be integrated into the robot without compromising its embodiment requirements. Conversely, we utilize the weight and placement of these devices to achieve the physical characteristics needed for a robotic body that is well-suited for coexistence with humans. We validate this approach through the development of Indy, a mobile communication robot platform designed to coexist with humans. The employed mechanisms enable Indy to maintain an upright posture without active control and ensure compliance during physical interactions. Experimental results indicate that the generated body movement positively impacts users’ perceptions, promoting a sense of anthropomorphism and enhancing the interaction experience. This confirms that the selected design approach not only provides mechanical advantages but also improves the natural appearance of the robot’s movements.https://ieeexplore.ieee.org/document/10975748/Human-robot interactionhumanoid robotsmechanical designmobile robotspassive dynamics |
| spellingShingle | Huthaifa Ahmad Yuya Okadome Yasutomo Kawanishi Koichiro Yoshino Takashi Minato Michihiko Minoh Yutaka Nakamura A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans IEEE Access Human-robot interaction humanoid robots mechanical design mobile robots passive dynamics |
| title | A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans |
| title_full | A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans |
| title_fullStr | A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans |
| title_full_unstemmed | A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans |
| title_short | A Body Design Leveraging Passive Dynamics for Mobile Robots Coexisting With Humans |
| title_sort | body design leveraging passive dynamics for mobile robots coexisting with humans |
| topic | Human-robot interaction humanoid robots mechanical design mobile robots passive dynamics |
| url | https://ieeexplore.ieee.org/document/10975748/ |
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