On-site humanoid navigation through hand-in-hand interface

In order to realize humanoid robots that support people in their daily lives, on-site humanoid behavior navigation system which a robot behaviors autonomously as well as a robot reacts to the intentions of a human. This paper proposes new on-site navigation interface method for humanoid robots which a human navigate a humanoid robot hand-in-hand. Previous humanoid researches aim to realize an autonomous intelligence, which is able to survive in a real environment without any help from a person. However to utilize a humanoid robot in a real world, it is necessary to take a robot to various locations or make a robot to manipulate and use various kinds of objects and tools, on-site navigation that a person is able to induce a humanoid behavior. In the experiment the operator takes a humanoid robot to a kitchen and teaches holding a kettle using this interaction kernel, and played back the motion sequence by planning in different environments