Social humanoid robot SARA: development of the wrist mechanism

Penčić, Marko; Rackov, Мilan; Čavić, Maja; Kiss, I; Cioată, V G

doi:10.1088/1757-899x/294/1/012079

Cited by 4 publications

(2 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The second category, which is similar as human vision system, can obviously improve flexibility and extend the field of view. The vision systems of the ESCHeR head [ 11 ], Yorick head [ 12 ], MAC-EYE robot eyes [ 13 ], iCub head [ 14 ], ARMAR-III head [ 15 ], Flobi head [ 16 ], Zhang XL’s robot eyes [ 17 ], ARMAR-4 head [ 18 ], Muecas [ 19 ], Romeo [ 20 ], SARA [ 21 ], and our designed anthropomorphic robotic bionic eyes [ 22 , 23 , 24 ] belong to the second category.…”

Section: Introductionmentioning

confidence: 99%

Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes

Fan

Liu

Chen

et al. 2020

Sensors

View full text Add to dashboard Cite

Three-dimensional (3D) triangulation based on active binocular vision has increasing amounts of applications in computer vision and robotics. An active binocular vision system with non-fixed cameras needs to calibrate the stereo extrinsic parameters online to perform 3D triangulation. However, the accuracy of stereo extrinsic parameters and disparity have a significant impact on 3D triangulation precision. We propose a novel eye gaze based 3D triangulation method that does not use stereo extrinsic parameters directly in order to reduce the impact. Instead, we drive both cameras to gaze at a 3D spatial point P at the optical center through visual servoing. Subsequently, we can obtain the 3D coordinates of P through the intersection of the two optical axes of both cameras. We have performed experiments to compare with previous disparity based work, named the integrated two-pose calibration (ITPC) method, using our robotic bionic eyes. The experiments show that our method achieves comparable results with ITPC.

show abstract

Section: Introductionmentioning

confidence: 99%

Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes

Fan

Liu

Chen

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…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

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