ISAC: foundations in human-humanoid interaction - Intelligent Systems, IEEE [see also IEEE Expert]

AT THE INTELLIGENT ROBOTICS Laboratory of Vanderbilt University’s Center for Intelligent Systems, over the past several years we have been developing a humanoid system called Intelligent Soft-Arm Control. We originally developed ISAC as a robotic aid system for the physically disabled (see Figure 1).1 It has since evolved into a test bed for human–humanoid interaction research.2,3 While working on ISAC, we developed a flexible architecture for parallel, distributed robot control; a framework for robust HHI; and a control system that will let ISAC learn. To demonstrate our approach’s potential, we have implemented a handshake demonstration.