Innovative Robot Archetypes for In-Space Construction and Maintenance

Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling, Joshua S.; Bridgwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Chris

doi:10.1063/1.1867231

Cited by 5 publications

(1 citation statement)

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“…Sony's QRIO [12] is designed to perform voice and face recognition; it can remember people's faces, as well as express its likes and dislikes. The costs of QRIO have been compared to the price of a luxury car [13]. It has 38 DOF and is 58 cm tall, about the size of a four-month-old baby.…”

Section: Humanoids With Legged Motionmentioning

confidence: 99%

HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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An affordable, highly articulated, child-size humanoid robot could potentially be used for various purposes, widening the design space of humanoids for further study. Several findings indicated that normal children and children with autism interact well with humanoids. This paper presents a child-sized humanoid robot (HBS-1) intended primarily for children's education and rehabilitation. The design approach is based on the design for manufacturing (DFM) and the design for assembly (DFA) philosophies to realize the robot fully using additive manufacturing. Most parts of the robot are fabricated with acrylonitrile butadiene styrene (ABS) using rapid prototyping technology. Servomotors and shape memory alloy actuators are used as actuating mechanisms. The mechanical design, analysis and characterization of the robot are presented in both theoretical and experimental frameworks.

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Section: Humanoids With Legged Motionmentioning

confidence: 99%

HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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Analysis of autonomous cooperative assembly using coordination schemes by heterogeneous robots using a control basis approach

Rojas

Peters²

2012

Auton Robot

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Robotic technology is quickly evolving allowing robots to perform more complex tasks in less structured environments with more flexibility and autonomy. Heterogeneous multi-robot teams are more common as the specialized abilities of individual robots are used in concert to achieve tasks more effectively and efficiently. An important area of research is the use of robot teams to perform modular assemblies. To this end, this paper analyzed the relative performance of two robots with different morphologies and attributes in performing an assembly task autonomously under different coordination schemes using force sensing through a control basis approach. A rigid, point-to-point manipulator and a dual-armed pneumatically actuated humanoid robot performed the assembly of parts under a traditional "push-hold" coordination scheme and a humanmimicked "push-push" scheme. The study revealed that the scheme with higher level of cooperation-the "push-push" scheme-performed assemblies faster and more reliably, lowering the likelihood of stiction phenomena, jamming, and wedging. The study also revealed that in "push-hold" schemes industrial robots are better pushers and compliant robots are better holders. The results of our study affirm the use of heterogeneous robots to perform hard-to-do asElectronic supplementary material The online version of this article (

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