Development of an Incarnate Announcing Robot System Using Emotional Interaction With Humans

Abstract

Human-like appearance and movement of social robots is important in humanÀrobot interaction. This paper presents the hardware mechanism and software architecture of an incarnate announcing robot system called EveR-1. EveR-1 is a robot platform to implement and test emotional expressions and humanÀrobot interactions. EveR-1 is not bipedal but sits on a chair and communicates information by moving its upper body. The skin of the head and upper body is made of silicon jelly to give a human-like texture. To express human-like emotion, it uses body gestures as well as facial expressions decided by a personality model. EveR-1 performs the role of guidance service in an exhibition and does the oral narration of fairy tales and simple conversation with humans.

Social humanoid robot SARA: development of the wrist mechanism

“…Wrist with 1 DOF -movements about the yaw or pitch axis, are found in Affetto [11], Ever-1 [12], EveR-2 [13], CB 2 [14], ASIMO [15], HRP-4C [16] etc., wrist with 2 DOFs -movements about the yaw and pitch axes, are found in iCub [17], Robonaut 2 [18], Albert HUBO [19], AILA [20], TORO [21], KIBO [22], HUBO [23], WABIAN-2 [24], KOBIAN [25], ARMAR-III [26], SURALP [27] etc., while the wrist with 3 DOFs -movements about the yaw, roll and pitch axes, are found in James [28], Justin [29], Romeo [30], BERT2 [31], WE-4RII [32], HRP-4 [33] etc. The wrist mechanism of these robots usually consists of rigid and low backlash mechanisms that are interconnected -harmonic drive, cable-driven mechanism, spatial linkage mechanism, spindle drive, low backlash gears etc.…”

Assistive humanoid robot MARKO: development of the neck mechanism

“…Neck with 2 DOFs -movements about the yaw and pitch axes, have ASIMO [10], HUBO [11], HRP-4 [12], EveR1 [13], NAO [14], AILA [15], TORO [16], Justin [17], Pepper [18] etc.Neck with3 DOFs -movements about the yaw, roll and pitch axes, haveWABIAN-2 [19], Albert HUBO [20], HRP-4C [21], Affetto [22], iCub [23], Probo [24], EveR-2 [25], Geminoid F [26], Actroid-F [27] etc.Neck with4 DOFs -yaw, roll, upper and lower pitch movements, haveWE-4RII [28], ARMAR-III [29], ROMAN [30], KOBIAN [31], SAYA [32], BARTHOC [33], Romeo [34], Flutist Robot WF-4 [35], Twente Humanoid Head [36] etc.Neck structures with 2, 3 or 4 DOFs usually consist of rigid and low backlash mechanisms that are interconnected -harmonic drive, cable-driven mechanisms, spindle drive, low backlash gears, etc. In addition to high reliability and carrying capacity, the advantage of these mechanisms is low backlash that provide high positioning accuracy and repeatability of movements.…”

Robotic Free Writing of Chinese Characters via Human–Robot Interactions

“…However, it is very complicated to calculate the joint values by using Eqs. (12) and (13). Therefore, in order to reduce the calculations, we premultiply A À1 matrices A 1 A 2 A 3 and T , respectively.…”

“…[8][9][10] In particular, it is very crucial for robots to acquire new skills without the requirements of repeated training or complex programming. 11,12 Therefore, we believe applying human-robot interactions to a robotic writing task will reduce the task's complexity. Also, human users use a convenient and natural way to control the robots.…”