DOCSLIB.ORG

Biomimetic Bi-Pedal Humanoid: Design, Actuation, and Control Implementation with Focus on Robotic Legs

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Biomimetic Bi-Pedal Humanoid: Design, Actuation, and Control Implementation with Focus on Robotic Legs Biomimetic Bi-Pedal Humanoid: Design, Actuation, and Control Implementation with Focus on Robotic Legs MICHAEL LOUIS OKYEN Thesis submitted to the faculty of the Virginia Polytechnic Institute and State University in partial fulfillment of the requirements for the degree of Master of Science In Mechanical Engineering Shashank Priya, Chair Steve Southward Alfred Wicks April 5, 2013 Blacksburg, VA Keywords: humanoid, biomimetic, legs, mechatronics, hydraulics Biomimetic Bi-Pedal Humanoid: Design, Actuation, and Control Implementation with Focus on Robotic Legs Michael Louis Okyen ABSTRACT The advancements made in technology over the past several decades have brought the field of humanoid robotics closer to integration into the everyday lives of humans. Despite these advances, the cost of these systems consistently remains high, thus limiting the environments in which these robots can be deployed. In this thesis, a pair of low-cost, bio-mimetic legs for a humanoid robot was developed with 12 degrees of freedom: three at the hip, one at the knee, and two at the ankle. Prior to developing the robot, a survey of the human-sized robotic legs released from 2006-2012 was conducted. The analysis included a summary of the key performance metrics and trends in series of human-sized robots. Recommendations were developed for future data reporting that will allow improved comparison of different prototypes. The design of the new robotic legs in this thesis utilized human anatomy data to devise performance parameters and select actuators. The developed system was able to achieve comparable ROM, size, weight, and torque to a six-foot tall human. Position and zero-moment point sensors were integrated for use in balancing, and a control architecture was developed. A model of the leg dynamics was created for designing balancing and walking algorithms. In addition, hydraulic actuators were evaluated for use in humanoid robotics, and testing was conducted in order to create a position control methodology. Finally, a predictive deadband controller was designed that was able to achieve accuracy of less than one degree using a valve with slow switching speed. Acknowledgements I need to thank everyone who has been a part of this great journey in my life. I certainly would not have made it through without the guidance, assistance, motivation, and friendship I received from the people I have worked with, especially Nick Thayer, Eric Baldrighi, Mike Stevens, Matthew Paluszek, Stephen Powell, and Noah Philipson. Working with 38 senior design students over the past three years has been one of the greatest experiences of my life. Thank you for the hard work, for all the late nights, for all the laughs, and for the friendships that will last a lifetime. I would also like to thank my advisor, Dr. Priya for giving me the opportunity to learn and grow into the engineer and person I am today. Despite all of your responsibilities, I always felt that you would make time for me, and I continually felt your trust in my judgment. I have never met anyone who is harder working, and I have no doubt that your research will continue to change the world! I have also been blessed with a wonderful family and friends who have supported me through every stage of my education. To my parents- thank you for everything you have done for me and given me as we’ve journeyed together through the past seven years. To my friends, thank you for all your encouragement and for all the joy you’ve brought to my life. Thank you everyone! iii Contents Chapter 1 1.1 Justification for Walking Robotics ................................................................................... 1 1.1.1 Establishing Criterion for Selection of Legged Robot ............................................ 2 1.1.2 Defining Stability ........................................................................................................ 2 1.1.3 Defining Wheeled vs. Legged Robots ........................................................................ 5 1.1.4 Justification for Two Legs over More Legs .............................................................. 7 1.1.5 Applications for Walking Robots .............................................................................. 9 1.1.6 Justification for the Presented Design .................................................................... 10 1.2 Survey of Full Size Bipedal Humanoid Robots ............................................................. 11 1.2.1 Criteria for Survey ................................................................................................... 11 1.2.2 Data Collection .......................................................................................................... 11 1.2.3 Survey Results ........................................................................................................... 16 1.2.3.1 Trends in Series of Robots ................................................................................ 21 1.2.4 Trends in Joint Design ............................................................................................. 24 1.2.4.1 Lower Back (Waist) .............................................................................................. 24 1.2.4.2 Hip Trends ......................................................................................................... 25 1.2.4.3 Knee Trends ....................................................................................................... 26 1.2.4.4 Foot and Ankle Trends ..................................................................................... 26 1.2.4.5 Walking/Running Capabilities ......................................................................... 26 1.2.5 Analysis of Survey Data ........................................................................................... 26 1.2.6 Suggestions for Future Data Reporting .................................................................. 32 1.2.7 Survey Conclusions................................................................................................... 33 1.2.8 Discussion of Future Biped Trends ......................................................................... 33 iv Chapter 2 2.1 Human Data Research ..................................................................................................... 35 2.1.1 Human Size and ROM ............................................................................................. 36 2.1.2 Human Joint Torques and Velocities...................................................................... 37 2.2 Overall Design Concepts and Actuator Selection ......................................................... 39 2.2.1 Actuator Selection..................................................................................................... 39 2.3 Hip Plate Design ............................................................................................................... 47 2.4 Upper Hip Design ............................................................................................................. 49 2.5 Lower Hip and Thigh Design .......................................................................................... 51 2.6 Knee Design ...................................................................................................................... 54 2.7 Lower Leg and Ankle Design .......................................................................................... 56 2.8 Lower Ankle and Foot Design ........................................................................................ 60 2.9 Overall Design Results ..................................................................................................... 64 2.10 Future Work ..................................................................................................................... 75 2.11 Overall Conclusion........................................................................................................... 75 Chapter 3 3.1 Introduction ...................................................................................................................... 76 3.2 Control and Feedback Components ............................................................................... 76 3.2.1 Motor Drivers ........................................................................................................... 76 3.2.2 Position Sensor .......................................................................................................... 78 3.3 ZMP Sensor ...................................................................................................................... 79 3.3.1 Calculating ZMP....................................................................................................... 79 3.3.2 ZMP Sensor ............................................................................................................... 80 3.3.3 ZMP Testing and Calibration ................................................................................. 84 3.4 Proposed Control Architecture ...................................................................................... 85 v 3.5 Balance Simulations ......................................................................................................... 86 3.6 Conclusions ....................................................................................................................... 89 Chapter 4 4.1 Introduction and Literature Review .............................................................................
Load more

Recommended publications
  • A Whole-Body Model Predictive Control Scheme Including External Contact Forces and Com Height Variations
    A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations Reihaneh Mirjalili1, Aghil Yousefi-koma1, Farzad A. Shirazi2, Arman Nikkhah1, Fatemeh Nazemi1 and Majid Khadiv3 Abstract— In this paper, we present an approach for gener- contacts, these optimization problems in general boil down ating a variety of whole-body motions for a humanoid robot. to a high dimensional non-convex optimization with combi- We extend the available Model Predictive Control (MPC) natorial complexity. As a result, based on the state of the approaches for walking on flat terrain to plan for both vertical motion of the Center of Mass (CoM) and external contact art computational power, these approaches cannot reactively forces consistent with a given task. The optimization problem regenerate motion in a Model Predictive Control (MPC) is comprised of three stages, i. e. the CoM vertical motion, setting. Furthermore, the non-convexity of the problem arises joint angles and contact forces planning. The choice of external the concern of getting stuck in local minima and also the contact (e. g. hand contact with the object or environment) solutions are very sensitive to the initial guess. among all available locations and the appropriate time to reach and maintain a contact are all computed automatically On the contrary to these general approaches, there is a within the algorithm. The presented algorithm benefits from massive amount of effort in the literature to employ model the simplicity of the Linear Inverted Pendulum Model (LIPM), abstraction to regenerate plans fast in face of disturbances while it overcomes the common limitations of this model and [9], [10], [11], [12].
    [Show full text]
  • Desarrollo De Un Objeto Virtual De Aprendizaje Para Los Robots Bioloid Con Finalidad De Aplicaciones En Robótica
    DESARROLLO DE UN OBJETO VIRTUAL DE APRENDIZAJE PARA LOS ROBOTS BIOLOID CON FINALIDAD DE APLICACIONES EN ROBÓTICA. INGRID NATALIA RODRIGUEZ OVALLE BRIAN ALEXANDER CHACÓN HERNÁNDEZ UNIVERSIDAD PILOTO DE COLOMBIA PROGRAMA DE INGENIERÍA MECATRÓNICA BOGOTA D.C., COLOMBIA 2017 DESARROLLO DE UN OBJETO VIRTUAL DE APRENDIZAJE PARA LOS ROBOTS BIOLOID CON FINALIDAD DE APLICACIONES EN ROBÓTICA. INGRID NATALIA RODRIGUEZ OVALLE BRIAN ALEXANDER CHACÓN HERNÁNDEZ PROYECTO DE GRADO DIRECTOR: NESTOR FERNANDO PENAGOS QUINTERO UNIVERSIDAD PILOTO DE COLOMBIA PROGRAMA DE INGENIERÍA MECATRÓNICA BOGOTA D.C., COLOMBIA 2017 Nota de aceptación El trabajo de grado, titulado “DESARROLLO DE UN OBJETO VIRTUAL DE APRENDIZAJE PARA LOS ROBOTS BIOLOID CON FINALIDAD DE APLICACIONES EN ROBÓTICA.” elaborado y presentado por los estudiantes Ingrid Natalia Rodriguez Ovalle y Brian Alexander Chacon Hernandez, como requisito parcial para optar al título de Ingeniero/a Mecatrónico/a, cumple el objetivo general y los específicos. Firma del tutor Bogotá, 13 de Febrero de 2017 3 CONTENIDO 1.INTRODUCCIÓN ................................................................................................ 11 1.1 RESUMEN ................................................................................................ 11 1.2 ABSTRACT .................................................................................................. 12 1.1 PLANTEAMIENTO DEL PROBLEMA ..................................................... 12 1.2.1 Antecedentes del problema ................................................................
    [Show full text]
  • Proceedings of the 20Th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2020)
    Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2020) Table of Contents 1. Welcome Message 2. Conference Committees 2.1 Organizing Committee 2.2 Conference Editorial Board 2.3 RA-Letters Editorial Board 3. Conference Information 3.1 Plenaries 3.2 Workshops 3.3 Worldwide Virtual Lab Tour 3.4 Awards 3.5 Sponsors 4. Technical Program 4.1 Program at a Glance 4.2 Oral Sessions 4.3 Interactive Sessions 1. Welcome Message Dear Attendees! Welcome to Humanoids 2020, the 20th IEEE-RAS International Conference on Humanoid Robots! Originally, we planned to welcome you all in December 2020 in Munich to celebrate with you the 20th anniversary of the Humanoids conference. We had hoped to host all of you in our beautiful city and show you around in our labs and experience our research first hand. The rise of the Corona pandemic required a change of plan. When the Corona pandemic spread across the globe in early 2020, it also had significant effects on the Humanoid robotics research community. Around the time of the original paper deadlines, many humanoids’ researchers worldwide had no or only severely restricted access to their labs. After intensive consultations between the Organizing Committee and the Steering Committee of the IEEE Conference on Humanoid Robots, it was finally decided to postpone the Humanoids 2020 conference for half a year until July 2021. Our main priority in this decision was the safety of our community. By postponing the conference, we were also hoping to be able to conduct Humanoids 2020 as an in-person event.
    [Show full text]
  • Valkyrie: NASA's First Bipedal Humanoid Robot
    Valkyrie: NASA's First Bipedal Humanoid Robot Nicolaus A. Radford, Philip Strawser, Kimberly Hambuchen, Joshua S. Mehling, William K. Verdeyen, Stuart Donnan, James Holley, Jairo Sanchez, Vienny Nguyen, Lyndon Bridgwater, Reginald Berka, Robert Ambrose∗ NASA Johnson Space Center Christopher McQuin NASA Jet Propulsion Lab John D. Yamokoski Stephen Hart, Raymond Guo Institute of Human Machine Cognition General Motors Adam Parsons, Brian Wightman, Paul Dinh, Barrett Ames, Charles Blakely, Courtney Edmonson, Brett Sommers, Rochelle Rea, Chad Tobler, Heather Bibby Oceaneering Space Systems Brice Howard, Lei Nui, Andrew Lee, David Chesney Robert Platt Jr. Michael Conover, Lily Truong Wyle Laboratories Northeastern University Jacobs Engineering Gwendolyn Johnson, Chien-Liang Fok, Eric Cousineau, Ryan Sinnet, Nicholas Paine, Luis Sentis Jordan Lack, Matthew Powell, University of Texas Austin Benjamin Morris, Aaron Ames Texas A&M University ∗Due to the large number of contributors toward this work, email addresses and physical addresses have been omitted. Please contact Kris Verdeyen from NASA-JSC at [email protected] with any inquiries. Abstract In December 2013, sixteen teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive robotics competition, partly inspired by the aftermath of the Fukushima Daiichi reactor incident. While the focus of the DRC Trials is to advance robotics for use in austere and inhospitable environments, the objectives of the DRC are to progress the areas of supervised autonomy and mobile manipulation for everyday robotics. NASA's Johnson Space Center led a team comprised of numerous partners to develop Valkyrie, NASA's first bipedal humanoid robot.
    [Show full text]
  • Proceedings First Annual Palo Alto Conference
    PROCEEDINGS OF THE FIRST ANNUAL PALO ALTO CONFERENCE An International Conference on the Mexican-American War and its Causes and Consequences with Participants from Mexico and the United States. Brownsville, Texas, May 6-9, 1993 Palo Alto Battlefield National Historic Site Southwest Region National Park Service I Cover Illustration: "Plan of the Country to the North East of the City of Matamoros, 1846" in Albert I C. Ramsey, trans., The Other Side: Or, Notes for the History of the War Between Mexico and the I United States (New York: John Wiley, 1850). 1i L9 37 PROCEEDINGS OF THE FIRST ANNUAL PALO ALTO CONFERENCE Edited by Aaron P. Mahr Yafiez National Park Service Palo Alto Battlefield National Historic Site P.O. Box 1832 Brownsville, Texas 78522 United States Department of the Interior 1994 In order to meet the challenges of the future, human understanding, cooperation, and respect must transcend aggression. We cannot learn from the future, we can only learn from the past and the present. I feel the proceedings of this conference illustrate that a step has been taken in the right direction. John E. Cook Regional Director Southwest Region National Park Service TABLE OF CONTENTS Introduction. A.N. Zavaleta vii General Mariano Arista at the Battle of Palo Alto, Texas, 1846: Military Realist or Failure? Joseph P. Sanchez 1 A Fanatical Patriot With Good Intentions: Reflections on the Activities of Valentin GOmez Farfas During the Mexican-American War. Pedro Santoni 19 El contexto mexicano: angulo desconocido de la guerra. Josefina Zoraida Vazquez 29 Could the Mexican-American War Have Been Avoided? Miguel Soto 35 Confederate Imperial Designs on Northwestern Mexico.
    [Show full text]
  • State of the Art: Bipedal Robots for Lower Limb Rehabilitation
    applied sciences Review State of the Art: Bipedal Robots for Lower Limb Rehabilitation Xiong Yang 1,†, Haotian She 2,†, Haojian Lu 1, Toshio Fukuda 2 and Yajing Shen 1,3,* 1 Department of Mechanical and Biomedical Engineering, University of Hong Kong, Tat Chee Avenue, Kowloon, Hong Kong 999077, China; [email protected] (X.Y.); [email protected] (H.L.) 2 Beijing Institute of Technology, No.5 Yard, Zhong Guan Cun South Street, Haidian District, Beijing 100000, China; [email protected] (H.S.); [email protected] (T.F.) 3 Centre for Robotics and Automation, CityU Shenzhen Research Institute, Shenzhen 518000, China * Correspondence: [email protected]; Tel.: +852-3442-2045 † These authors contributed equally to this work. Received: 5 October 2017; Accepted: 3 November 2017; Published: 16 November 2017 Abstract: The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered exoskeleton robots, and their control methods. Lastly, the future development and the challenges in this field are discussed.
    [Show full text]
  • Presentations Lowqualitypdf
    Welcome 04 Maps 06 Schedule Overview – Sun, 3/3 15 – Mon, 3/4 16 – Tue, 3/5 18 – Wed, 3/6 20 Visits 22 Tutorials and Workshops 23 Plenary Talk 27 Panel Session 30 Session 32 Map - Demo & Poster 46 Late-Breaking Reports & Poster Session 48 Video Session 56 Demo Session 60 Exhibition 66 Sponsorship 68 Organizers 72 Reviewers 74 Welcome to Tokyo! The Eighth Annual Accompanying the full papers are the Late ACM/IEEE International Conference on Breaking Reports, Videos, and Demos. Hideaki Kuzuoka Welcome Human-Robot Interaction (HRI 2013) is a For the LBR, 95 out of 100 (95%) two- HRI’13 General Co-Chair highly selective conference that aims to page papers were accepted and will be University of Tsukuba, Japan showcase the very best interdisciplinary presented as posters at the conference. and multidisciplinary research in human- For the Videos, 16 of 22 (72%) short videos robot interaction with roots in robotics, were accepted and will be presented during social psychology, cognitive science, HCI, the video session. The Demos is new to our Vanessa Evers human factors, artificial intelligence, conference. We have 22 robot systems for HRI’13 General Co-Chair design, engineering, and many more. We all participants to be able to interact with University of Twente, Netherlands invite broad participation and encourage the innovative systems. discussion and sharing of ideas across a diverse audience. Rounding out the program are two keynote Michita Imai speakers who will discuss topics relevant to HRI’13 Program Co-Chair Robotics is growing increasingly HRI: Dr. Yuichiro Anzai and Dr.
    [Show full text]
  • Navigation of Humanoids by a Hybridized Regression-Adaptive Particle Swarm Optimization Approach
    10.24425/acs.2018.124707 Archives of Control Sciences Volume 28(LXIV), 2018 No. 3, pages 349–378 Navigation of humanoids by a hybridized regression-adaptive particle swarm optimization approach PRIYADARSHI BIPLAB KUMAR, CHINMAYA SAHU and DAYAL R. PARHI In the era of humanoid robotics, navigation and path planning of humanoids in complex en- vironments have always remained as one of the most promising area of research. In this paper, a novel hybridized navigational controller is proposed using the logic of both classical technique and computational intelligence for path planning of humanoids. The proposed navigational con- troller is a hybridization of regression analysis with adaptive particle swarm optimization. The inputs given to the regression controller are in the forms of obstacle distances, and the output of the regression controller is interim turning angle. The output interim turning angle is again fed to the adaptive particle swarm optimization controller along with other inputs. The output of the adaptive particle swarm optimization controller termed as final turning angle acts as the directing factor for smooth navigation of humanoids in a complex environment. The proposed navigational controller is tested for single as well as multiple humanoids in both simulation and experimental environments. The results obtained from both the environments are compared against each other, and a good agreement between them is observed. Finally, the proposed hy- bridization technique is also tested against other existing navigational approaches for validation of better efficiency. Key words: navigation, humanoid NAO, RA, APSO, Petri-Net, V-REP 1. Introduction With the development of science and technology, robots are becoming an integral part of human life.
    [Show full text]
  • A Bio-Driven Approach for Artificial Skin Design to Cover Interactive
    Skin-On Interfaces: A Bio-Driven Approach for Artificial Skin Design to Cover Interactive Devices Marc Teyssier, Gilles Bailly, Catherine Pelachaud, Eric Lecolinet, Andrew Conn, Anne Roudaut To cite this version: Marc Teyssier, Gilles Bailly, Catherine Pelachaud, Eric Lecolinet, Andrew Conn, et al.. Skin-On Interfaces: A Bio-Driven Approach for Artificial Skin Design to Cover Interactive Devices. the32nd Annual ACM Symposium, Oct 2019, New Orleans, France. pp.307-322, 10.1145/3332165.3347943. hal-02340056 HAL Id: hal-02340056 https://hal.telecom-paris.fr/hal-02340056 Submitted on 30 Oct 2019 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Skin-On Interfaces: A Bio-Driven Approach for Artificial Skin Design to Cover Interactive Devices Marc Teyssier1, Gilles Bailly2, Catherine Pelachaud2, Eric Lecolinet1, Andrew Conn3, Anne Roudaut3 1LTCI, Télécom Paris, Institut 2Sorbonne Université, CNRS, 3University of Bristol Polytechnique de Paris, France ISIR, Paris, France Bristol, UK name.surname@{1telecom-paristech.fr,2upmc.fr, 3bristol.ac.uk} Figure 1. Skin-On Interface (a) is a new paradigm in which we augment interactive devices such as (b) smartphone, (c) interactive watches or (d) touchpad with artificial skin.
    [Show full text]
  • Design and Analysis of a New Humanoid Robot Torso
    International Journal of Engineering and Advanced Technology (IJEAT) ISSN: 2249 – 8958, Volume-9 Issue-1, October 2019 Design and Analysis of a New Humanoid Robot Torso Noor Zaheera Ishak, Nurul Syuhadah Khusaini, Norheliena Aziz, Sahril Kushairi, Zulkifli Mohamed Abstract: The development of humanoid robot shows great Traditional humanoid robots like ASIMO [7][8], HRP[9], significant in domestic, services and medical application. BHR[10], HUBO[11], NAO[10], and iCub[12] are generally Humanoid robot is developed to aid human daily task. However, built with a box-shaped torso with only two or three degrees the appearances of the humanoid robot affect the robot’s functionality as well as the acceptance of its usage in public. of freedom (D.O.F). For example, the torsos of the existing Hence, this study focuses on developing a new torso structure humanoid robots like ASIMO which represent the advanced design for a humanoid robot for better performance. The new level has only one rotary joint in the transverse plane [13]. humanoid robot torso design is based on the actual human-like The torso design usually has been neglected or simplified proportion and human torso structure. A 3D model of the torso due to the complex control of the multibody system and has been designed and simulated in SolidWorks software. Aluminium is used as the raw material for the humanoid robot mechanical design difficulties [14]. However, in many torso. The humanoid robot parts are fabricated via Computer aspects of human-like movement and operation, the torso of a Numerical Control (CNC) Machining and Water Jet Cutting.
    [Show full text]
  • HITEC 2015 Special Report
    Table of Contents HFTP International Hospitality Technology Hall of Fame 8 Inductees Talk Tech 15 2015 Inductee Profile: Michael Schubach, CHTP, CHAE A discussion of past, present and future technologies Recognized for being a go-to industry expert, supported by By Eliza Selig experience in multiple tech disciplines By Danielle Earp 14 2015 Inductee Profile: Scot Campbell. CHTP Recognized for leading the way in raising tech standards 16 Hall of Fame Inductee Gallery within hotel systems and operations Pictorial of the inductees who have received By Danielle Earp the prestigious honor 7 At HITEC, Take Time to Talk and Think Through 32 Steps to a Proper Litigation Hold Challenges Plan ahead for potential litigation with prepared guidelines An introduction from the HITEC 2015 Advisory Council Chair on preserving electronic documentation By Christina Cornwell By Daniel Vecchio and Don Scaramastra 18 Wearable Market: Initial Insights for the Hospitality 34 Building a Strong Business Case A guide to outlining a clear statement of objectives and the Industry strategies for achieving them As smart watches, glasses and other wearable technologies By Mark Haley, CHTP, ISHC go mainstream, consider current consumer perceptions and interest level 38 Meeting Together on the Technicalities By Ajay ‘AJ’ Aluri, Ph.D. Important fundamentals for building a trusted relationship between the IT and marketing teams 22 The Rise of Robotics in Hospitality By Brian Garavuso, CHTP Increased functionality and declining costs raise the appeal for service-oriented robots 40 Turn Customer Information into Valuable Guest By Galen Collins, Ph.D. Engagement To develop value-creating digital or real-world engage- 24 Are Mobile Payments (R)evolutionary? ment, consider three critical aspects of one-to-one market- The convenience of the one-size-fits-all model of mobile ing: quality data, customization and personalization payment using near field communication poses to eclipse By Robert Cole other payment options By Cristian Morosan Ph.D.
    [Show full text]
  • Robots on Stage
    EAI Endorsed Transactions on Creative Technologies Research Article Robots on stage 1, 2, Henning Christiansen ∗ & Anja Mølle Lindelof ∗ 1Department of People and Technology & 2Department of Communication and Arts Roskilde University, Roskilde, Denmark Abstract This article investigates the appearance of robots on stage in contemporary performance. As a convincing demonstration of the relevance of robots – as artefact, concept and metaphor – we take Blanca Li’s 2013 dance performance Robot ! as our starting point. We have distilled five dimensions that provide vocabulary and terminology to characterise different instances of robots on stage with a focus on their expressive character. These dimensions are: Movements, Apparent level of Autonomy & Interaction, Appearance, Massification and Sound Received on 10 November 2020; accepted on 12 December 2020; published on 18 December 2020 Keywords: Robot performance, HRI, robot theatre, performative gestalt Copyright © 2020 Henning Christiansen & Anja Mølle Lindelof, licensed to EAI. This is an open access article distributed under the terms of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/), which permits unlimited use, distribution and reproduction in any medium so long as the original work is properly cited. doi:10.4108/eai.18-12-2020.167657 1. Introduction 25 minutes into the contemporary dance performance Robot ! the show’s protagonist – a 58 cm tall, plastic robot of the label Nao – is introduced as it teams up with a male, human dancer in a passionate Pas- de-deux. The Nao is brought on stage in a closed box by the solo dancer: Newly bought – still to be unpacked from its box. New-born – with its visual resemblance to a child, about to explore how to move and come into being.
    [Show full text]