
Acroban is a lightweight compliant humanoïd robot. It is capable of semi-passive dynamic movement, including semi-passive dynamic walking. Equipped with a multi-articulated vertebral column, its bio-inspired design relies heavily on the use of adequate morphology and materials for robustness and adaptivity to external perturbations. This allows not only for advanced motor skills, but also affords a new kind of physical human-robot interaction which is made possible by the ability of the human to modify the state (joint positions) of the robot by a direct physical manipulation, thanks to compliance. In this way, joints become the interface between the robot and the human: They make possible the exchange of analogical information. Interestingly, the motors, material, and electronics of Acroban are all low-cost. This allows us to show that it is actually possible to build such robust compliant motor skills and generate original life-like movements with basic affordable components if they are adequately chosen, combined and controlled. Furthermore, Acroban provokes spontaneous highly positive emotional reactions, especially in children. Yet, as opposed to many other robots, its morphology is neither roundish nor cute. He has no big eyes. He is just made of metal, and its appearance shows it explicitly. At first glance, its visual appearance creates low expectation of intelligence and life-likeness. But when it begins to move and one can touch it, its natural dynamics, much <b>...</b>
INRIA
Developmental robotics
humanoid
robotics
passive dynamic walking
vertebral column
spine
compliance
robot
biped
human-robot interaction
child-robot interaction
Luxo Jr. effect
morphological computation
semi-passive dynamics
personal robotics
flowers
Siggraph 2010.