Mobile human interface robot

摘要

A mobile human interface robot that includes a base defining a vertical center axis and a forward drive direction and a holonomic drive system supported by the base. The drive system has first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis. The robot further includes a controller in communication with the holonomic drive system, a torso supported above the base, and a touch sensor system in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.

主权项

1. A mobile human interface robot comprising:
a base defining a vertical center axis and a forward drive direction; a holonomic drive system supported by the base; a controller in communication with the holonomic drive system; a torso supported above the base; a touch sensor system in communication with the controller, the touch sensor system responsive to human contact; a neck disposed on the torso; and a head supported by the neck, the neck adapted to pan and tilt the head with respect to the torso; wherein the controller:
issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system;allows user articulation of the head in response to the received touch signal from the touch sensor system indicating head touching and maintains a pose of the head after completion of head touching; andarticulates the head to face a location of contact on the robot in response to the received touch signal from the touch sensor system when a touching duration is less than a threshold period of time.