Telepresence Mechatronic Robot (TEBoT): Towards the design and control of socially interactive bio-inspired system
2016 (English)In: Journal of Intelligent & Fuzzy Systems, ISSN 1064-1246, E-ISSN 1875-8967, Vol. 31, no 5, 2597-2610 p.Article in journal (Refereed) Published
Socially interactive systems are embodied agents that engage in social interactions with humans. From a design perspective, these systems are built by considering a biologically inspired design (Bio-inspired) that can mimic and simulate human-like communication cues and gestures. The design of a bio-inspired system usually consists of (i) studying biological characteristics, (ii) designing a similar biological robot, and (iii) motion planning, that can mimic the biological counterpart. In this article, we present a design, development, control-strategy and verification of our socially interactive bio-inspired robot, namely - Telepresence Mechatronic Robot (TEBoT). The key contribution of our work is an embodiment of a real human-neck movements by, i) designing a mechatronic platform based on the dynamics of a real human neck and ii) capturing the real head movements through our novel single-camera based vision algorithm. Our socially interactive bio-inspired system is based on an intuitive integration-design strategy that combines computer vision based geometric head pose estimation algorithm, model based design (MBD) approach and real-time motion planning techniques. We have conducted an extensive testing to demonstrate effectiveness and robustness of our proposed system.
Place, publisher, year, edition, pages
IOS Press, 2016. Vol. 31, no 5, 2597-2610 p.
Socially interactive robot, biologically inspired robot, head pose estimation, vision based robot control, model based design, embodied telepresence system
IdentifiersURN: urn:nbn:se:kth:diva-197043DOI: 10.3233/JIFS-169100ISI: 000386532000015ScopusID: 2-s2.0-84992110994OAI: oai:DiVA.org:kth-197043DiVA: diva2:1052721
QC 201612072016-12-072016-11-282016-12-07Bibliographically approved