403 research outputs found
Humanizing robot dance movements
Tese de mestrado integrado. Engenharia Informática e Computação. Universidade do Porto. Faculdade de Engenharia. 201
Development and Characteristics of a Highly Biomimetic Robotic Shoulder Through Bionics-Inspired Optimization
This paper critically analyzes conventional and biomimetic robotic arms,
underscoring the trade-offs between size, motion range, and load capacity in
current biomimetic models. By delving into the human shoulder's mechanical
intelligence, particularly the glenohumeral joint's intricate features such as
its unique ball-and-socket structure and self-locking mechanism, we pinpoint
innovations that bolster both stability and mobility while maintaining
compactness. To substantiate these insights, we present a groundbreaking
biomimetic robotic glenohumeral joint that authentically mirrors human
musculoskeletal elements, from ligaments to tendons, integrating the biological
joint's mechanical intelligence. Our exhaustive simulations and tests reveal
enhanced flexibility and load capacity for the robotic joint. The advanced
robotic arm demonstrates notable capabilities, including a significant range of
motions and a 4 kg payload capacity, even exerting over 1.5 Nm torque. This
study not only confirms the human shoulder joint's mechanical innovations but
also introduces a pioneering design for a next-generation biomimetic robotic
arm, setting a new benchmark in robotic technology
Human-like arm motion generation: a review
In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analyzed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.FCT Project UID/MAT/00013/2013FCT–Fundação para a Ciência e Tecnologia within the R&D Units Project Scope: UIDB/00319/2020
Towards a Platform-Independent Cooperative Human Robot Interaction System: III. An Architecture for Learning and Executing Actions and Shared Plans
Robots should be capable of interacting in a cooperative and adaptive manner with their human counterparts in open-ended tasks that can change in real-time. An important aspect of the robot behavior will be the ability to acquire new knowledge of the cooperative tasks by observing and interacting with humans. The current research addresses this challenge. We present results from a cooperative human-robot interaction system that has been specifically developed for portability between different humanoid platforms, by abstraction layers at the perceptual and motor interfaces. In the perceptual domain, the resulting system is demonstrated to learn to recognize objects and to recognize actions as sequences of perceptual primitives, and to transfer this learning, and recognition, between different robotic platforms. For execution, composite actions and plans are shown to be learnt on one robot and executed successfully on a different one. Most importantly, the system provides the ability to link actions into shared plans, that form the basis of human-robot cooperation, applying principles from human cognitive development to the domain of robot cognitive systems. © 2009-2011 IEEE
Human Motion Mapping to a Robot Arm with Redundancy Resolution
The problem of image based visual servoing for robots working in a dynamic environment is addressed in this paper. It is assumed that the environment is observed by depth sensors which allow to measure the distance between any moving obstacle and the robot. The main idea is to control suitable image moments during the interaction phase to relax a certain number of robot’s degrees of freedom. If an obstacle approaches the robot, the main visual servoing task is attenuated or completely abandoned while the image features are kept in the camera field of view by controlling the image moments. Fuzzy rules are used to set the reference values for the controller. Beside that, the relaxed redundancy of the robot is exploited to avoid collisions as well. After removing the risk of collision, the main visual servoing task is resumed. The effectiveness of the algorithm is shown by several case studies on a KUKA LWR 4 robot arm
Design, Control, and Evaluation of a Human-Inspired Robotic Eye
Schulz S. Design, Control, and Evaluation of a Human-Inspired Robotic Eye. Bielefeld: Universität Bielefeld; 2020.The field of human-robot interaction deals with robotic systems that involve
humans and robots closely interacting with each other. With these systems
getting more complex, users can be easily overburdened by the operation
and can fail to infer the internal state of the system or its ”intentions”. A
social robot, replicating the human eye region with its familiar features and
movement patterns, that are the result of years of evolution, can counter
this. However, the replication of these patterns requires hard- and software
that is able to compete with the human characteristics and performance.
Comparing previous systems found in literature with the human capabili-
ties reveal a mismatch in this regard. Even though individual systems solve
single aspects, the successful combination into a complete system remains
an open challenge. In contrast to previous work, this thesis targets to close
this gap by viewing the system as a whole — optimizing the hard- and
software, while focusing on the replication of the human model right from
the beginning. This work ultimately provides a set of interlocking building
blocks that, taken together, form a complete end-to-end solution for the de-
sign, control, and evaluation of a human-inspired robotic eye. Based on the
study of the human eye, the key driving factors are identified as the success-
ful combination of aesthetic appeal, sensory capabilities, performance, and
functionality. Two hardware prototypes, each based on a different actua-
tion scheme, have been developed in this context. Furthermore, both hard-
ware prototypes are evaluated against each other, a previous prototype, and
the human by comparing objective numbers obtained by real-world mea-
surements of the real hardware. In addition, a human-inspired and model-
driven control framework is developed out, again, following the predefined
criteria and requirements. The quality and human-likeness of the motion,
generated by this model, is evaluated by means of a user study. This frame-
work not only allows the replication of human-like motion on the specific
eye prototype presented in this thesis, but also promotes the porting and
adaption to less equipped humanoid robotic heads. Unlike previous systems
found in literature, the presented approach provides a scaling and limiting
function that allows intuitive adjustments of the control model, which can
be used to reduce the requirements set on the target platform. Even though
a reduction of the overall velocities and accelerations will result in a slower
motion execution, the human characteristics and the overall composition of
the interlocked motion patterns remain unchanged
Parallel architectures for humanoid robots
© 2020 by the authors. Licensee MDPI, Basel, Switzerland. The structure of humanoid robots can be inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel kinematic mechanisms. Parallel mechanisms can be identified in human anatomy with operations that can be used for designing parallel mechanisms in the structure of humanoid robots. Design issues are outlined as requirements and performance for parallel mechanisms in humanoid structures. The example of LARMbot humanoid design is presented as from direct authors’ experience to show an example of the feasibility and efficiency of using parallel mechanisms in humanoid structures. This work is an extension of a paper presented at ISRM 2019 conference (International Symposium on Robotics and Mechatronics)
Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization
This paper delineates the formulation and verification of an innovative
robotic forearm and elbow design, mirroring the intricate biomechanics of human
skeletal and ligament systems. Conventional robotic models often undervalue the
substantial function of soft tissues, leading to a compromise between
compactness, safety, stability, and range of motion. In contrast, this study
proposes a holistic replication of biological joints, encompassing bones,
cartilage, ligaments, and tendons, culminating in a biomimetic robot. The
research underscores the compact and stable structure of the human forearm,
attributable to a tri-bone framework and diverse soft tissues. The methodology
involves exhaustive examinations of human anatomy, succeeded by a theoretical
exploration of the contribution of soft tissues to the stability of the
prototype. The evaluation results unveil remarkable parallels between the range
of motion of the robotic joints and their human counterparts. The robotic elbow
emulates 98.8% of the biological elbow's range of motion, with high torque
capacities of 11.25 Nm (extension) and 24 Nm (flexion). Similarly, the robotic
forearm achieves 58.6% of the human forearm's rotational range, generating
substantial output torques of 14 Nm (pronation) and 7.8 Nm (supination).
Moreover, the prototype exhibits significant load-bearing abilities, resisting
a 5kg dumbbell load without substantial displacement. It demonstrates a payload
capacity exceeding 4kg and rapid action capabilities, such as lifting a 2kg
dumbbell at a speed of 0.74Hz and striking a ping-pong ball at an end-effector
speed of 3.2 m/s. This research underscores that a detailed anatomical study
can address existing robotic design obstacles, optimize performance and
anthropomorphic resemblance, and reaffirm traditional anatomical principles
VISU: A 3D Printed Functional Robot for Human Pose Replication
This paper presents VISU, a novel 3D printed functional robot. VISU is equipped with open-source technologies making it more modular in adapting Internet of Things (IoT) based services. VISU is able to detect and analyze the user’s activity and pose. In addition, a simple method to replicate the pose of a user is also proposed. VISU can also perform actions such as Face recognition, Object Recognition among other basic functionalities
VISU: A 3D Printed Functional Robot for Human Pose Replication
563-569This paper presents VISU, a novel 3D printed functional robot. VISU is equipped with open-source technologies making
it more modular in adapting Internet of Things (IoT) based services. VISU is able to detect and analyze the user’s activity
and pose. In addition, a simple method to replicate the pose of a user is also proposed. VISU can also perform actions such
as Face recognition, Object Recognition among other basic functionalities
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