Humanoid as a research vehicle into flexible complex interaction

T his paper pos i ti ons humanoi d r es e ar ch as an appr oach t o under s t anding and r eal i z i ng com ple x r eal w or l d interactions between a robot, an environment, and a human. As a f i rs t s t ep t owar ds ex t r act i ng a com mon pr i nci pl e over t he t hr ee t er m i nt er act i ons , a conc ept of act i on or i ent ed cont r ol has bee n i nve s ti gat ed w it h a s i mul ati on ex ampl e. T he com ple x i nt er act i on vi e w cas t s uni que cons t r ai nt s on t he des i gn of a humanoi d, s uch as w hole body, s moot h s hape, non-f unc ti onal -modul ar des i gn. A br i ef des cr i pti on of ongoi ng des i gn of ETL -Humanoi d w hic h conf or ms t o t he above constraints is presented.