Mobile human interface robot

1. A mobile human interface robot comprising:

a base defining a vertical center axis and a forward drive direction;

a holonomic drive system supported by the base;

a controller in communication with the holonomic drive system;

a torso supported above the base;

a touch sensor system in communication with the controller, the touch sensor system responsive to human contact;

a neck disposed on the torso; and

a head supported by the neck, the neck adapted to pan and tilt the head with respect to the torso;

wherein the controller:

issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system;

allows user articulation of the head in response to the received touch signal from the touch sensor system indicating head touching and maintains a pose of the head after completion of head touching; and

articulates the head to face a location of contact on the robot in response to the received touch signal from the touch sensor system when a touching duration is less than a threshold period of time.

2. The mobile human interface robot of claim 1 , wherein the touch sensor system is disposed at least in part on the torso.

3. The mobile human interface robot of claim 2 , further comprising an actuatable extendable leg disposed on the base and supporting the torso, the controller altering a height of the leg to alter a height of the torso in response to the received touch signal from the touch sensor system.

4. The mobile human interface robot of claim 3 , wherein the controller instructs the leg to provide active assistance to a user height alteration of the torso in response to the received touch signal from the touch sensor system, the active assistance reducing a user movement resistance of the torso.

5. The mobile human interface robot of claim 1 , wherein the drive commands comprise reduced power assisted drive commands that propel the robot with assistance from a user in contact with the robot.

6. The mobile human interface robot of claim 1 , further comprising a manipulation sensor disposed on at least one of the neck and the head for detecting user manipulation of the head.

7. The mobile human interface robot of claim 1 , wherein the touch sensor system comprises at least one of a capacitive sensor, a contact sensor, a camera, a three-dimensional image sensor, and a switch.

8. The mobile human interface robot of claim 1 , wherein the touch sensor system comprises contact sensors disposed on top, bottom, right, left, front, and back surfaces of the torso.

9. The mobile human interface robot of claim 1 , wherein the touch sensor system comprises at least one touch-responsive actuatable input positioned between 3 feet and 5 feet from a supporting surface of the robot.

10. The mobile human interface robot of claim 1 , wherein the controller increases a movement resistance of at least a portion of the robot in a direction opposite to a received touch.

11. The mobile human interface robot of claim 1 , wherein the controller instructs the drive system to stop driving in response to the received touch signal from the touch sensor system.

12. A method of operating a mobile human interface robot, the method comprising:

receiving a touch signal from a touch sensor system of the robot in response to a user touching the robot;

for a touching duration greater than a threshold period of time, driving the robot in a direction based on a location of contact on the robot;

for a touching duration less than the threshold period of time, articulating an interface of the robot to at least substantially face the location of contact on the robot; and

for a touching duration less than the threshold period of time, issuing a zero velocity drive command.

13. The method of claim 12 , further comprising issuing a drive command to a holonomic drive system to move the robot in a direction opposite of the received touching, for a touching duration greater than the threshold period of time.

14. The method of claim 12 , wherein the threshold period of time comprises 0.25 seconds.

15. The method of claim 12 , further comprising at least one of panning and tilting a head of the robot with respect to a connected torso of the robot to at least substantially face the head toward the location of contact on the robot, for a touching duration less than the threshold period of time.

16. The method of claim 12 , wherein the touch sensor system comprises at least one of a capacitive sensor, a contact sensor, a camera, a three-dimensional image sensor, and a switch.