Paper ID: 2412.20770

Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context

Mehdi Benallegue (CNRS-AIST JRL), Guillaume Lorthioir (CNRS-AIST JRL), Antonin Dallard (CNRS-AIST JRL, LIRMM), Rafael Cisneros-Limón (CNRS-AIST JRL), Iori Kumagai (CNRS-AIST JRL), Mitsuharu Morisawa (CNRS-AIST JRL), Hiroshi Kaminaga (CNRS-AIST JRL), Masaki Murooka (CNRS-AIST JRL), Antoine Andre (CNRS-AIST JRL), Pierre Gergondet (CNRS-AIST JRL), Kenji Kaneko (CNRS-AIST JRL), Guillaume Caron (CNRS-AIST JRL, UPJV), Fumio Kanehiro (CNRS-AIST JRL), Abderrahmane Kheddar (CNRS-AIST JRL, LIRMM), Soh Yukizaki, Junichi Karasuyama, Junichi Murakami, Masayuki Kamon

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.

Submitted: Dec 30, 2024