Hold My Hand: Development of a Force Controller and System Architecture for Joint Walking with a Companion Robot.

In recent years, there has been a growing interest in the development of robotic systems for improving the quality of life of individuals of all ages. Specifically, humanoid robots offer advantages in terms of friendliness and ease of use in such applications. This article proposes a novel system architecture that enables a commercial humanoid robot, specifically the Pepper robot, to walk side-by-side while holding hands, and communicating by responding to the surrounding environment.