We have a humanoïd torso on wheels made by Meka Robotics. This robot is designed  to be compliant and force controlled and has an expressive head designed for human-robot interaction. It is used for different research topics such as motion control, object learning and human-robot interaction.

DSC_0191  Ing. Syst.34

It is equiped with two cameras in the eyes, and a depth-camera in the torso which make it possible to detect humans and objects in front of it. The software architecture is interfaced with  ROS.

Screenshot-from-2013-05-27-111440 Screenshot-from-2013-07-03-131137

Below is an example of skill learning based on Dynamic Mouvement Primitives: