Drive System of the Robot Eyeballs and Eyelids with 8 DOFs

Penčić, Marko; Čavić, Maja; Rackov, Мilan; Borovać, Branislav; Lu, Zhenli

doi:10.1007/978-3-319-79111-1_5

Cited by 6 publications

(3 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This research is part of a project that develops the humanoid robotic platform SARA for researching social and adequate human-robot interaction in a human's living and working environment. The currently designed and largely realized prototype SARA has 32 DOFs and consists of 8 DOFs eyes [4], 3 DOFs neck [5], 14 DOFs arms [6], 6 DOFs lumbar spine [7] and 1 DOF shrug mechanism which is shown in this paper. Figure 1 shows the robot prototype and its kinematic structure.…”

Section: Introductionmentioning

confidence: 99%

Social Humanoid Robot SARA: Development and Realization of the Shrug Mechanism

Penčić

Čavić

Borovać

et al. 2018

Mechanism Design for Robotics

Self Cite

View full text Add to dashboard Cite

One of the basic requirements of socially interactive robots is that they are able to effectively communicate, verbally and non-verbally. In addition to communication via speech, non-verbal communication of the robot is of utmost importance enabling different informations to be communicated in a simple and intuitive manner as well as expressing emotions. The paper presents the development and realization of the shrug mechanism as an addition to the assortment of non-verbal communication of socially interactive robots. The realized shrug mechanism has 1 DOF and enables lifting/lowering both shoulders together. It consists of a ballscrew shaft/nut mechanism that is coupled with a six-link planar lever mechanism. Within the kinematic-dynamic analysis, the basic parameters of the lever mechanism are defineddriving force on the input link, the vertical stroke of the end point of the shoulder and the dynamic efficiency of the lever mechanism. By optimal synthesis the driving force on the input link is reduced and, at the same time, the stroke of the input link is the smallest, while the stroke of the output links is the largest. That is why the movement of shoulders shrug is fast and short-termed, which was the basic requirement for realization of a movement that largely resembles to human-like movement. In addition, the mechanism is efficient in all positions during motion because the values of the transmission angle are within the prescribed values for the lever mechanisms. Ballscrew shaft/nut mechanism, besides enabling additional torque reduction, is also low backlash which is significant for motion control. The realized shrug mechanism enables high speed of shoulder shrug for small driving torque, has low backlash and high efficiency, compact design and small mass and dimensions.

show abstract

Section: Introductionmentioning

confidence: 99%

Social Humanoid Robot SARA: Development and Realization of the Shrug Mechanism

Penčić

Čavić

Borovać

et al. 2018

Mechanism Design for Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Sara will be able to communicate verbally and nonverbally. To express facial expressions, biologically inspired eyes and eyelids with 8 DOFs are being developed [7]. In order to extend the spectrum of nonverbal communication, the robot will be able to shrug when the question is confusing or when the robot does not know what to answer.…”

Section: Introductionmentioning

confidence: 99%

Optimal synthesis of the worm-lever mechanism for humanoid robots shrug

2017

View full text Add to dashboard Cite

Emotions represent a significant means of nonverbal communication and their expression represents an important aspect of social robots functionality. There are two basic ways of expressing emotions. The first one is based on facial expressions that can be realized by moving a particular part of face or by displaying a picture on the screen that represents a face with characteristic features such as eyebrows, eyes, nose and mouth. Combining them is also possible. The second way of nonverbal communication is based on gestures, especially using arms. This paper presents an optimal synthesis of shrug mechanism for humanoid robots. Based on the set requirements the worm-lever mechanism is proposed. It has 1 DOF and enables simultaneous shrug of both shoulders. It consists of a worm which is meshed with two worm gears having different directions of rotation and two four-bar lever mechanisms whose input links are rigidly connected to the worm gears. Based on the kinematic-dynamic analysis the dynamic model is formed, the objective function is defined, the constraints are prescribed and the optimal synthesis is performed. The maximum torque on the input link of the lever mechanism, the driving torque of the complete worm-lever mechanism, the range of transmission angle and the rotation range of the worm gears are determined. The lever mechanism has high efficiency in all positions because the transmission angle has a high value during the whole movement. The worm mechanism enables a significant reduction of driving torque and has acceptable efficiency. The rotation range of the worm gear is small-the mechanism movement is very quick and therefore the shrug speed is large, which was the basic requirement for realization.

show abstract

“…The robot will be able to communicate verbally and nonverbally. For expressing facial expressions, biologically [2]. To extend the spectrum of nonverbal communication, the robot will be able to shrug if a question is confusing or it does not know what to answer [3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%