Dr. Petar Kormushev, that lead a team of researchers from Tokyo City University and Italian Institute of Technology, is one of the name behind the Fujitsu HOAP-2 mini humanoid robot that now capable of cleaning a whiteboard.
The new Fujitsu HOAP-2 mini humanoid robot is designed with upper-body kinaesthetic teaching, for developing robots capability to handle various vertical surface related tasks, including painting walls and cleaning windows.
Everything just gets better, the era of iRobot seems is coming pretty soon!
The presented approach allows a free-standing, self-balancing humanoid robot to acquire new motor skills by kinesthetic teaching. The method controls simultaneously the upper and lower body of the robot with different control strategies. Imitation learning is used for training the upper body via kinesthetic teaching, while at the same time ankle/hip reaction motion patterns are used for keeping the balance of the robot. During demonstration, a force/torque sensor is used to record the exerted forces, and during reproduction, a hybrid position/force controller is used to reproduce the learned trajectories in terms of positions and forces to the end effector.
And itâ€™s getting better. The researchers say that their â€œupper-body kinesthetic teachingâ€ method can pave the way to developing robots that are able to handle various â€œvertical surface related tasksâ€, i.e. cleaning windows or painting walls.