DOCSLIB.ORG

ARDOP: a Versatile Humanoid Robotic Research Platform

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
ARDOP: a Versatile Humanoid Robotic Research Platform ARDOP: A Versatile Humanoid Robotic Research Platform Sudarshan S Harithas Harish V Mekali BMS College of Engineering BMS College of Engineering Bangalore, Karnataka, India Bangalore, Karnataka, India [email protected] [email protected] ABSTRACT designs and software packages of ARDOP have been made available This paper describes the development of a humanoid robot called open-source and it can be replicated within $1000. ARDOP. The goal of the project is to provide a modular, open-source, Our contribution can be summarized as follows: and inexpensive humanoid robot that would enable researchers (1) Development of a robust, modular, inexpensive humanoid ro- to answer various problems related to robotic manipulation and bot and open-source of its design files and software packages perception. ARDOP primarily comprises of two functional units that can be easily reproduced. namely the perception and manipulation system, here we discuss (2) Formulation and design of 6DOF robotic manipulator con- the conceptualization and design methodology of these systems sidering workspace and torque constraints. The arm can and proceed to present their performance results on simulation perform object manipulation to sub-centimeter range accu- and various custom-designed experiments. The project has been racy. maintained on our page https://ardop.github.io/. KEYWORDS Humanoid Robot, robotic manipulator design, object manipulation, kinematics, Perception 1 INTRODUCTION The multidisciplinary research community has been increasingly focusing on developing robots that can assist and perform activ- ities with humans in the loop. To serve the increase in attention, a robust modular research platform that can aid in rapid testing and software development, while being affordable, simple to recon- figure is of prime importance. Here we present Autonomous Robot Development Open Source Platform (ARDOP) a robot that intends to accelerate research primarily in the domains of manipulation [1], and perception [2] [3]. The robot is depicted in Fig. 1 At the core ARDOP consists of two functional units namely the perception and manipulation system . A calibrated RGBD Microsoft Kinect camera [4] and the pan-tilt joint of the neck form the per- ception system, the manipulation system includes a pair of 6DOF robotic manipulators and its corresponding control system. A de- Figure 1: ARDOP, a Humanoid Robotic Research Platform. tailed description of the conceptualization, design, and development of individual systems has been presented in this paper. Furthermore, 2 DESIGN we present the ARDOP arm where the manipulator is constructed The structural design of ARDOP depicted in Fig. 3, the robot is built considering the workspace and torque constraints. Additionally, using aluminum and is powder coated to ensure electric insulation we evaluate the independent and coordinated performance of these and enhanced aesthetic beauty. The design of the robot is inspired systems through a series of experiments such as workspace aware by the bodily structure of "centaur" 1. In this section, we describe the object manipulation and Tic-Tac-Toe. mechatronic architecture of ARDOP, followed by the manipulator Research across industry and academia have resulted in a few of design and kinematics. the finest robots such as PR2 [5] , Robot Cosero [6],Intel HERB[7], Armar III [8], Pepper [9], bipedal robots such as ASIMO [10], 2.1 Mechatronic Architecture ASIMO [10], and Petman [11], Atlas [12] form another class of The mechatronic architecture describes the interactions between humanoid robots. These robots have helped to expedite research the actuators, sensors, computation, and power distribution circuits. but despite their impressive performance and encouraging results The mechatronic architecture of ARDOP is depicted in Fig. 4. they are very expensive for purchase and only a few of them are The architecture includes three modules open source but are difficult to replicate. Whereas all the hardware Head: RGBD Camera (Kinect) with pan-tilt neck joint (2DOF • actuator). ,, . 1https://en.wikipedia.org/wiki/Centaur ,, Sudarshan S Harithas and Harish V Mekali Arm: a pair of 6DOF manipulators. torque. Furthermore, we can interpret that motors at joints 푆 and • 1 Upper Base: Housing for computer, drivers, power supply 푆 would have a higher torque requirement when compared to mo- • 2 units, and controllers. tors at other joints. Therefore, we consider the torque 푇1 (of motor A 12V 60Ah battery connects to the power distribution and servo 푆1) and 푇2 (of motor 푆2) to constrain and obtain the optimal link control board and powers the manipulation and the perception sys- length 퐿1 and 퐿2, that would enable the arm to access maximum tems of ARDOP. The power supply is secured and monitored by workspace volume. the safety circuits and power meter respectively. The manipulation Considering Fig. 6(a), the torque 푇1 and 푇2 can be obtained from system consists of two 6DOF arms which are controlled using the Eq. 1 and 2 respectively, where 푚퐿1 and 푚퐿2 is the mass of the link. Arduino Mega development board and the perception system con- sists of a Kinect camera and a 2DOF pan-tilt joint. Furthermore, 퐿1 퐿2 푇1 =푚 푚 퐿 1 푚 퐿1 3푚 퐿 1 퐿 2 ARDOP has a tall neck of length 46푐푚, which places the camera at 퐿1 ( 2 ) + ( ) + 퐿2 ( + 2 ) + ( + ) an optimal viewing position, additionally, it helps to counter the blind spot in the depth image of the Kinect camera. The laptop with 푚 푝 퐿1 퐿 2 퐿 푒푒푓 (1) Intel i5-6200U CPU with 16 GB RAM and a 1 TB HDD is housed in + ( + + ) the performs the computation and inter-system coordi- upper base 퐿2 푇 =푚 3푚 퐿 푚 푝 퐿 퐿 (2) nation. 2 퐿2 ( 2 ) + ( 2) + ( 2 + 푒푒푓 ) An aluminium sheet with density 퐷 = 2.7 10 3 퐾푔 , thickness 2.2 Software Architecture ( ) × − 푐푚3 (H) 0.3푐푚 and breadth (B) of 12푐푚 is used for arm design. Consid- The modular software stack allows for simple user interface and ering the rectangular structure of the sheet, the volume of link L1 development, it comprises of four layers as depicted in Fig. 2 and L2, their volume can be expressed as, Hardware Abstraction The layer comprises of the drivers • 푉=퐿 , 12 0.3 and controllers that communicate with the hardware actua- 1 2 × × tors/sensors. and mass of link L1 and L2 can be expressed as, TheOS layer consists of the Robot Operating System that • 푀푎푠푠 푀 = 퐷푒푛푠푖푡푦 퐷 푉표푙푢푚푒 푉 is central to the software architecture. This layer provides ( ) ( )× ( ) various tools and libraries that are required for the user level 3 푚 퐿 , =2.7 10 12 0.3 퐿 , program development. ( 1 2) × − × × × 1 2 System Service this layer includes the various user defined 푚 퐿 =9.72 10 3 퐿 =퐾 퐿 (3) • 1,2 − 1,2 1,2 programs that can be deployed on the robot. Fig. 2 depicts ( ) × × × Substituting퐿 2 = 42 퐿 1 and the above results in Eq. 1 and 2, the program stack of the three systems specific to the various − experiments that we had conducted as detailed in section 3. 푘 42 2 푇 =푚퐿 ( ) 3푚 42 0.2 50 (4) Application this is an actionable layer where the final imple- 1 1 + 2 + ( ) + ( ) • mentation of the program can be observed. 퐾 42 퐿1 2 푇 = ( − ) 3푚 42 퐿 0.2 42 퐿 8 (5) 2 2 + ( − 1) + ( − 1 + ) 2.3 Manipulator Design The worst-case torque 푇 , 푤푐 analysis is performed by increasing ( 1 2 ) ARDOP is geometrically symmetric in the sagittal plane. It has two the torque requirement by 75% i.e. 푇 , = 1.75 푇 , and considering 1 2 × 1 2 identical 6 DoF arms with its shoulder joint equidistant from the efficiency factor (휂= 0.7) for the available motor with a stall torque base of the neck. Fig. 5, depicts the geometric and coordinate frame of 35퐾푔.푐푚. Two motors are used in the shoulder joint 푆1 to increase representation of ARDOP. A 3DOF spherical wrist has been used the stability and robustness of the arm, moreover, this implies that to enable the manipulator to access the complete volume of the the effective torque at joint 푆1 is 70퐾푔.푐푚. The worst-case analysis workspace in all possible orientations, the ARDOP arm is shown in factor (훽) is given by, Fig. 6. 휂 0.7 The arm design involves determining the mass, link length and 훽= = =0.4 1.75 1.75 selecting appropriate motors for a given payload. From the stick di- agram of the arm is shown in Fig. 6(a), the following considerations Hence,푇 = 70훽= 28퐾푔.푐푚, and푇 = 35훽= 14퐾푔.푐푚. are made: 1푤푐 2푤푐 (1) The arm length퐿 퐿 퐿 = 50푐푚. 푇1 <푇 1푤푐 푎푛푑 푇2 <푇 2푤푐 (6) 1 + 2 + 푒푒푓 (2) The end-effector length퐿 푒푒푓 =8푐푚, this implies A graph as shown in Fig. 7 is plotted between the various values 퐿 퐿 = 42푐푚. 1 + 2 of link length 퐿1 and its corresponding expected torque values 푇1 (3) Maximum payload mass 푚 = 0.2푘푔 (inclusive of the mass 푝 and 푇2. For all the points that do not obey the worst case condition as of the end-effector). given by Eq. 6 are eliminated and a value of " 10" would assigned − (4) All six motors of the same mass (푚), 푚푠0 =푚 푠1 =푚 푠2 = to them indicating their elimination. From the graph it can be 푚 =푚 =푚 =푚=0.064푘푔. 푠3 푠4 푠5 further inferred that the available link length 퐿1 is between 16푐푚 It can be observed from Fig. 6, that the mass of the arm is dis- to 24푐푚. We choose an optimal and safe value of 퐿1 = 20푐푚 and tributed along the axis of motor 푆 , which decreases its required 퐿 = 42 퐿 = 22푐푚. 0 2 − 1 ARDOP: A Versatile Humanoid Robotic Research Platform ,, Figure 2: Software Design Figure 3: ARDOP Structural Design 2.3.1 Simulation.
Load more

Recommended publications
  • 134TH COMMENCEMENT James E
    134 th Commencement MAY 2021 Welcome Dear Temple graduates, Congratulations! Today is a day of celebration for you and all those who have supported you in your Temple journey. I couldn’t be more proud of the diverse and driven students who are graduating this spring. Congratulations to all of you, to your families and to our dedicated faculty and academic advisors who had the pleasure of educating and championing you. If Temple’s founder Russell Conwell were alive to see your collective achievements today, he’d be thrilled and amazed. In 1884, he planted the seeds that have grown and matured into one of this nation’s great urban research universities. Now it’s your turn to put your own ideas and dreams in motion. Even if you experience hardships or disappointments, remember the motto Conwell left us: Perseverantia Vincit, Perseverance Conquers. We have faith that you will succeed. Thank you so much for calling Temple your academic home. While I trust you’ll go far, remember that you will always be part of the Cherry and White. Plan to come back home often. Sincerely, Richard M. Englert President UPDATED: 05/07/2021 Contents The Officers and the Board of Trustees ............................................2 Candidates for Degrees James E. Beasley School of Law ....................................................3 Esther Boyer College of Music and Dance .....................................7 College of Education and Human Development ...........................11 College of Engineering ...............................................................
    [Show full text]
  • Canada at Expo 2005: Nation, Audience, and the Branded Display Complex
    Canada at Expo 2005: Nation, Audience, and the Branded Display Complex: by Laurie J. Dalton A thesis submitted to the Faculty of Graduate and Postdoctoral Affairs in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Canadian Studies Carleton University Ottawa, Ontario © 2014 Laurie Dalton Abstract Popular culture events, such as world’s fairs, are important objects of study as they demonstrate how visual culture functions as an agent of nation branding on a global scale. Much of the research on these events has focused on the nineteenth and early twentieth centuries as sites of imperialism and modernism. Although less attention has been paid to contemporary world’s fairs, this study argues that these continue to be critical areas of study. Expo 2005 in Aichi, Japan was the first world’s fair held in Asia in the twenty-first century. As global power dynamics shift to Asia, an examination of cultural events allows us to explore how countries hope to position themselves in this shift. My case study of the Canadian pavilion at Expo 2005 demonstrates how the display simultaneously projected a federal brand and reflected tourist expectations of Canada for the Japanese audience. I use a visual analysis drawing from iconology and visual semiotics to understand how the design of the pavilion represented the unique expectations of three different stakeholders: the organizers of the Aichi expo who sought to position Japan within a wider global framework, the Canadian federal planners who wanted to project a distinct Canadian identity abroad, and the attending public, who went to be entertained.
    [Show full text]
  • Many Faced Robot - Design and Manufacturing of a Parametric, Modular and Open Source Robot Head
    Many Faced Robot - Design and Manufacturing of a Parametric, Modular and Open Source Robot Head Metodi Netzev1, Quentin Houbre1, Eetu Airaksinen1, Alexandre Angleraud1 and Roel Pieters1 Abstract— Robots developed for social interaction and care show great promise as a tool to assist people. While the functionality and capability of such robots is crucial in their acceptance, the visual appearance should not be underesti- mated. Current designs of social robots typically can not be altered and remain the same throughout the life-cycle of the robot. Moreover, customization to different end-users is rarely taken into account and often alterations are strictly prohibited due to the closed-source designs of the manufacturer. The current trend of low-cost manufacturing (3D printing) and open-source technology, however, open up new opportunities for third parties to be involved in the design process. In this work, we propose a development platform based on FreeCAD that offers a parametric, modular and open-source design tool specifically aimed at robot heads. Designs can be generated by altering different features in the tool, which automatically Fig. 1. Different end-users of social robots require different features and design. The designs shown here are generated by the parametric and modular reconfigures the head. In addition, we present several design development platform, proposed in this work. Left design shows a robot approaches that can be integrated in the design to achieve head with wooden facial covering. Right design shows a robot head with different functionalities (face and skin aesthetics, component more humanoid characteristics. Both designs can be generated by changing assembly), while still relying on 3D printing technology.
    [Show full text]
  • Robot Umanoidi E Tecniche Di Interazione Naturale Per Servizi Di Accoglienza Ed Informazioni
    POLITECNICO DI TORINO Corso di Laurea Magistrale in Ingegneria Informatica Tesi di Laurea Magistrale Robot umanoidi e tecniche di interazione naturale per servizi di accoglienza ed informazioni Relatori Prof. Fabrizio Lamberti Ing. Federica Bazzano Candidato Simon Dario Mezzomo Dicembre 2017 Quest’opera è stata rilasciata con licenza Creative Commons Attribuzione - Non commerciale - Non opere derivate 4.0 Internazionale. Per leggere una copia della licenza visita il sito web http://creativecommons.org/licenses/by-nc-nd/4.0/ o spedisci una lettera a Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. Ringraziamenti Grazie a tutti quelli che mi sono stati vicino durante questo lungo percorso che mi ha portato al tanto atteso traguardo della laurea. A tutta la famiglia che mi ha sempre sostenuto anche nei momenti più difficili. Agli amici di casa e di università Andrea, Hervé, Jacopo, Maurizio, Didier, Marco, Matteo, Luca, Thomas, Nicola, Simone che hanno condiviso numerose esperienze. A tutti i colleghi di lavoro Edoardo, Francesco, Emanuele, Gianluca, Gabriele, Nicolas, Rebecca, Chiara, Allegra. E a tutti quelli di cui mi sarò sicuramente scordato. iii Sommario L’obiettivo di questo lavoro di tesi è quello di esplorare l’uso di robot umanoidi nel- l’ambito della robotica di servizio per applicazioni che possono essere utili all’uomo e di analizzarne l’effettiva utilità. In particolare, è stata analizzata l’interazione con un robot umanoide (generalmente chiamato receptionist) che accoglie gli utenti e fornisce loro, su richiesta, delle indicazioni per raggiungere il luogo in cui questi si vogliono recare. L’innovazione rispetto allo stato dell’arte in materia consiste nell’integrare le in- dicazioni vocali fornite all’utente con delle indicazioni che mostrano il percorso da seguire su una mappa posta di fronte al robot.
    [Show full text]
  • The Dialectics of Virtuosity: Dance in the People's Republic of China
    The Dialectics of Virtuosity: Dance in the People’s Republic of China, 1949-2009 by Emily Elissa Wilcox A dissertation submitted in partial satisfaction of the requirements for the degree of Joint Doctor of Philosophy with the University of California, San Francisco in Medical Anthropology of the University of California, Berkeley Committee in charge: Professor Xin Liu, Chair Professor Vincanne Adams Professor Alexei Yurchak Professor Michael Nylan Professor Shannon Jackson Spring 2011 Abstract The Dialectics of Virtuosity: Dance in the People’s Republic of China, 1949-2009 by Emily Elissa Wilcox Joint Doctor of Philosophy with the University of California, San Francisco in Medical Anthropology University of California, Berkeley Professor Xin Liu, Chair Under state socialism in the People’s Republic of China, dancers’ bodies became important sites for the ongoing negotiation of two paradoxes at the heart of the socialist project, both in China and globally. The first is the valorization of physical labor as a path to positive social reform and personal enlightenment. The second is a dialectical approach to epistemology, in which world-knowing is connected to world-making. In both cases, dancers in China found themselves, their bodies, and their work at the center of conflicting ideals, often in which the state upheld, through its policies and standards, what seemed to be conflicting points of view and directions of action. Since they occupy the unusual position of being cultural workers who labor with their bodies, dancers were successively the heroes and the victims in an ever unresolved national debate over the value of mental versus physical labor.
    [Show full text]
  • Assistive Humanoid Robot MARKO: Development of the Neck Mechanism
    MATEC Web of Conferences 121, 08005 (2017) DOI: 10.1051/ matecconf/201712108005 MSE 2017 Assistive humanoid robot MARKO: development of the neck mechanism Marko Penčić1,*, Maja Čavić1, Srđan Savić1, Milan Rackov1, Branislav Borovac1, and Zhenli Lu2 1Faculty of Technical Sciences, University of Novi Sad, TrgDositejaObradovića 6, 21000 Novi Sad, Serbia 2School of Electrical Engineering and Automation, Changshu Institute of Technology, Hushan Road 99, 215500 Changshu, People's Republic of China Abstract.The paper presents the development of neck mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive apparatus in the physical therapy for children with cerebral palsy.There are two basic ways for the neck realization of the robots. The first is based on low backlash mechanisms that have high stiffness and the second one based on the viscoelastic elements having variable flexibility. We suggest low backlash differential gear mechanism that requires small actuators. Based on the kinematic-dynamic requirements a dynamic model of the robots upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of neck mechanism are determined.Realized neck has 2 DOFs and enables movements in the direction of flexion-extension 100°, rotation ±90° and the combination of these two movements. It consists of a differential mechanism with three spiral bevel gears of which the two are driving and are identical, and the third one which is driven gear to which the robot head is attached. Power transmission and motion from the actuators to the input links of the differential mechanism is realized with two parallel placed gear mechanisms that are identical.Neck mechanism has high carrying capacity and reliability, high efficiency, low backlash that provide high positioning accuracy and repeatability of movements, compact design and small mass and dimensions.
    [Show full text]
  • The Future of Human-Robot Interaction a Socio-Economic Scenario Analysis
    DEGREE PROJECT IN MECHANICAL ENGINEERING, SECOND CYCLE, 30 CREDITS STOCKHOLM, SWEDEN 2021 The Future of Human-Robot Interaction A socio-economic Scenario Analysis BENEDIKT KRIEGER KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF INDUSTRIAL ENGINEERING AND MANAGEMENT A socio-economic Scenario Analysis Benedikt Krieger Supervised by Andreas Archenti (KTH) & Thomas Bohné (University of Cambridge) Abstract – English Advancing research in an interdisciplinary field such as robotics is a complex undertaking. Seldom, it is moved beyond the scope of an individual science and the challenges from other fields of research are incorporated. Research on Human-Robot Interaction (HRI) is attributed interdisciplinarity and, thus, is a case in point. Therefore, this thesis aims to integrate both engineering, psychosocial, and socio-economic research streams. By doing so, the goal is to reveal and to identify underlying questions which are tacitly assumed by either research field, but require explicit contemplation and elaboration. The engineering community is currently focusing on collaboration and cooperation (CoCo) as it enables humans and robots to operate together in heterogenous teams. Human-robot teamwork, in turn, is promising to enable the integration of both a human’s flexibility, dexterity, and creative problem solving with robotic strength, precision, reliability, and efficiency. In contrast, economic considerations evolve around elaborations on technological unemployment and further macroeconomic implications. To unite these streams, this thesis conducts a scoping literature review. Through it, the fundamental design considerations necessary to achieve CoCo are laid out, while pointing towards the currently most promising research direction in each of the design aspects. Both engineering as well as psychosocial aspects are considered.
    [Show full text]
  • Animation and Machines: Designing Expressive Robot-Human Interactions Ⅰ
    http://dx.doi.org/10.7230/KOSCAS.2017.49.677 Animation and Machines: designing expressive robot-human interactions Ⅰ. Introduction Ⅱ. Expanded animation Ⅲ. Animation and ubiquitous computing Ⅳ. Social Robots: a survey of the state of the art Ⅴ. Cartoons, animators and robots Ⅵ. Conclusion References 국문초록 Joao Paulo Amaral Schlittler ABSTRACT Cartoons and consequently animation are an effective way of visualizing futuristic scenarios. Here we look at how animation is becoming ubiquitous and an integral part of this future today: the cybernetic and mediated society that we are being transformed into. Animation therefore becomes a form of speech between humans and this networked reality, either as an interface or as representation that gives temporal form to objects. Animation or specifically animated films usually are associated with character based short and feature films, fiction or nonfiction. However animation is not constricted to traditional cinematic formats and language, the same way that design and communication have become treated as separate fields, however according to Vilém Flusser they aren’t. The same premise can be applied to animation in a networked culture: Animation has become an intrinsic to design processes and products - as in motion graphics, interface design and three-dimensional visualization. Video-games, virtual reality, map based apps and social networks constitute layers of an expanded universe that embodies our network based culture. They are products of design and media disciplines that are increasingly relying on animation as a universal language suited to multi-cultural interactions carried in digital ambients. In this sense animation becomes a discourse, the same way as Roland Barthes describes myth as a type of speech.
    [Show full text]
  • 2021 Primetime Emmy® Awards Ballot
    2021 Primetime Emmy® Awards Ballot Outstanding Lead Actor In A Comedy Series Tim Allen as Mike Baxter Last Man Standing Brian Jordan Alvarez as Marco Social Distance Anthony Anderson as Andre "Dre" Johnson black-ish Joseph Lee Anderson as Rocky Johnson Young Rock Fred Armisen as Skip Moonbase 8 Iain Armitage as Sheldon Young Sheldon Dylan Baker as Neil Currier Social Distance Asante Blackk as Corey Social Distance Cedric The Entertainer as Calvin Butler The Neighborhood Michael Che as Che That Damn Michael Che Eddie Cibrian as Beau Country Comfort Michael Cimino as Victor Salazar Love, Victor Mike Colter as Ike Social Distance Ted Danson as Mayor Neil Bremer Mr. Mayor Michael Douglas as Sandy Kominsky The Kominsky Method Mike Epps as Bennie Upshaw The Upshaws Ben Feldman as Jonah Superstore Jamie Foxx as Brian Dixon Dad Stop Embarrassing Me! Martin Freeman as Paul Breeders Billy Gardell as Bob Wheeler Bob Hearts Abishola Jeff Garlin as Murray Goldberg The Goldbergs Brian Gleeson as Frank Frank Of Ireland Walton Goggins as Wade The Unicorn John Goodman as Dan Conner The Conners Topher Grace as Tom Hayworth Home Economics Max Greenfield as Dave Johnson The Neighborhood Kadeem Hardison as Bowser Jenkins Teenage Bounty Hunters Kevin Heffernan as Chief Terry McConky Tacoma FD Tim Heidecker as Rook Moonbase 8 Ed Helms as Nathan Rutherford Rutherford Falls Glenn Howerton as Jack Griffin A.P. Bio Gabriel "Fluffy" Iglesias as Gabe Iglesias Mr. Iglesias Cheyenne Jackson as Max Call Me Kat Trevor Jackson as Aaron Jackson grown-ish Kevin James as Kevin Gibson The Crew Adhir Kalyan as Al United States Of Al Steve Lemme as Captain Eddie Penisi Tacoma FD Ron Livingston as Sam Loudermilk Loudermilk Ralph Macchio as Daniel LaRusso Cobra Kai William H.
    [Show full text]
  • Humanoid Robots Robot Name Manufacturer
    Appendix A Table 1．Humanoid robots Robot Name Manufacturer Application(s) Description NAO Softbank-Aldebaran Human interaction and assistance A human-like appearance and comes with four microphones, two loudspeakers, tactile sensors, and LED lights that are dispersed around the head, torso, and extremities [47]. It has the ability to walk, dance, speak, and recognize faces and objects [47]. RIA (Robo Idoso Engineering Institute of Monitoring vital signals and An extension of NAO that equips it with several sensors to Activo, or Elderly Coimbra (ISEC) environment monitor multiple parameters, such as blood glucose levels, Active Robot) blood pressure, heart rate, and body temperature. It can also monitor environmental levels including temperature, humidity, and gas and fire detection [6,33] Pepper Softbank-Aldebaran Act as a companion, assist and An omnidirectional wheeled base that stands at 1.2m in supervise independent-living elderly height. The robot has a head, arms, and a torso attached to a people, promote quality of life, stable body [48]. The three wheel system attached to a facilitate relationships uniform body is more stable than the normal two robotic legs [31]. Additional features include advanced language and facial recognition, tactile sensors, tablet connected to its torso, cameras, microphones, and a flexible programming interface [31] Pearl of the Carnegie Mellon University, Assist and supervise independent- A mobile robot that is equipped with microphones for Nursebot project University of Pittsburgh, living elderly people and those with speech recognition, speakers for speech synthesis, touch- University of Michigan mild cognitive impairment, issue sensitive graphic displays, actuated head units, and stereo daily reminders, promote healthy camera systems [14].
    [Show full text]
  • Social Robots on a Global Stage: Establishing a Role for Culture During Human–Robot Interaction
    International Journal of Social Robotics https://doi.org/10.1007/s12369-020-00710-4 Social Robots on a Global Stage: Establishing a Role for Culture During Human–Robot Interaction Velvetina Lim1 · Maki Rooksby2 · Emily S. Cross2,3 Accepted: 1 October 2020 © The Author(s) 2020 Abstract Robotic agents designed to assist people across a variety of social and service settings are becoming increasingly prevalent across the world. Here we synthesise two decades of empirical evidence from human–robot interaction (HRI) research to focus on cultural influences on expectations towards and responses to social robots, as well as the utility of robots displaying culturally specific social cues for improving human engagement. Findings suggest complex and intricate relationships between culture and human cognition in the context of HRI. The studies reviewed here transcend the often-studied and prototypical east–west dichotomy of cultures, and explore how people’s perceptions of robots are informed by their national culture as well as their experiences with robots. Many of the findings presented in this review raise intriguing questions concerning future directions for robotics designers and cultural psychologists, in terms of conceptualising and delivering culturally sensitive robots. We point out that such development is currently limited by heterogenous methods and low statistical power, which contribute to a concerning lack of generalisability. We also propose several avenues through which future work may begin to address these shortcomings. In sum, we highlight the critical role of culture in mediating efforts to develop robots aligned with human users’ cultural backgrounds, and argue for further research into the role of culturally-informed robotic development in facilitating human–robot interaction.
    [Show full text]
  • The Bees of Greater Puerto Rico (Hymenoptera: Apoidea: Anthophila)
    University of Nebraska - Lincoln DigitalCommons@University of Nebraska - Lincoln Center for Systematic Entomology, Gainesville, Insecta Mundi Florida August 2008 The bees of Greater Puerto Rico (Hymenoptera: Apoidea: Anthophila) Julio A. Genaro York University, Toronto, [email protected] Nico M. Franz University of Puerto Rico, Mayagüez, PR, [email protected] Follow this and additional works at: https://digitalcommons.unl.edu/insectamundi Part of the Entomology Commons Genaro, Julio A. and Franz, Nico M., "The bees of Greater Puerto Rico (Hymenoptera: Apoidea: Anthophila)" (2008). Insecta Mundi. 569. https://digitalcommons.unl.edu/insectamundi/569 This Article is brought to you for free and open access by the Center for Systematic Entomology, Gainesville, Florida at DigitalCommons@University of Nebraska - Lincoln. It has been accepted for inclusion in Insecta Mundi by an authorized administrator of DigitalCommons@University of Nebraska - Lincoln. INSECTA MUNDI A Journal of World Insect Systematics 0040 The bees of Greater Puerto Rico (Hymenoptera: Apoidea: Anthophila) Julio A. Genaro Department of Biology, York University 4700 Keele St., Toronto, ON, M3J 1P3, Canada Nico M. Franz Department of Biology, University of Puerto Rico PO Box 9012, Mayagüez, PR 00681, U.S.A. Date of Issue: August 22, 2008 CENTER FOR SYSTEMATIC ENTOMOLOGY, INC., Gainesville, FL Julio A. Genaro and Nico M. Franz The bees of Greater Puerto Rico (Hymenoptera: Apoidea: Anthophila) Insecta Mundi 0040: 1-24 Published in 2008 by Center for Systematic Entomology, Inc. P. O. Box 147100 Gainesville, FL 32614-7100 U. S. A. http://www.centerforsystematicentomology.org/ Insecta Mundi is a journal primarily devoted to insect systematics, but articles can be published on any non-marine arthropod taxon.
    [Show full text]