Patent ID: 8918213

Claim:
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.