Telepresence Mechatronic Robot (TEBoT):Towards the Design and Control of SociallyInteractive Bio-Inspired System
2016 (English)Article in journal (Refereed) In press
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-likecommunication 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, wepresent a design, development, control-strategy and verification of our socially interactive bio-inspired robot, namely - TelepresenceMechatronic Robot (TEBoT). The key contribution of our work is an embodiment of a real human-neck movementsby, i) designing a mechatronic platform based on the dynamics of a real human neck and ii) capturing the real head movementsthrough our novel single-camera based vision algorithm. Our socially interactive bio-inspired system is based on an intuitiveintegration-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 effectivenessand robustness of our proposed system.
Place, publisher, year, edition, pages
Biologically Inspired Robot, Head Pose Estimation, vision based robot control, Model Based Design, Embodied Telepresence System
Robotics Computer Vision and Robotics (Autonomous Systems) Interaction Technologies
IdentifiersURN: urn:nbn:se:umu:diva-108552OAI: oai:DiVA.org:umu-108552DiVA: diva2:853543