Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot

This work presents a remote control device designed to drive the arm gestures of an assistant humanoid mobile robot. The remote control is a master device with two passive arms configured to replicate the four degrees of freedom of each arm of the original assistant humanoid robot and send this info...

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Autores: Rubies, Elena, Bitriá Ribes, Ricard, Clotet Bellmunt, Eduard, Palacín Roca, Jordi
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2023
País:España
Recursos:Universitat de Lleida (UdL)
Repositorio:Repositori Obert UdL
OAI Identifier:oai:repositori.udl.cat:10459.1/464480
Acesso em linha:https://doi.org/10.3390/app131911115
https://hdl.handle.net/10459.1/464480
Access Level:acceso abierto
Palavra-chave:Remote control device
Arm gestures
Humanoid robot
Telecontrol
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spelling Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid RobotRubies, ElenaBitriá Ribes, RicardClotet Bellmunt, EduardPalacín Roca, JordiRemote control deviceArm gesturesHumanoid robotTelecontrolThis work presents a remote control device designed to drive the arm gestures of an assistant humanoid mobile robot. The remote control is a master device with two passive arms configured to replicate the four degrees of freedom of each arm of the original assistant humanoid robot and send this information to the robot. This configuration allows the mobile robot to directly replicate the position of the arms on the remote controller. The objective of this proposal is to provide the robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance. The master device registers the angular position of each joint of its passive arms and transmits this information to the mobile robot, which replicates it. The experimental evaluation of the system has shown that the humanoid robot is able to successfully replicate any gesture on the remote controller. The positions of the arms have been sampled at a frame rate of 20 ms, and the average telecontrol delay obtained in the gesture experiments has been 549 ms, without appreciable jumps or irregularities in the gestures. The conclusion is that the direct manipulation of the passive arms of the remote control device provides the APR-02 humanoid robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance.The research was supported by predoctoral grants from the Departament de Recerca i Universitats de la Generalitat de Catalunya and the European Social Fund Plus: AGAUR FI SDUR 2022 and AGAUR FI Joan Oró 2023.MDPI2023info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttps://doi.org/10.3390/app131911115https://hdl.handle.net/10459.1/464480reponame:Repositori Obert UdL instname:Universitat de Lleida (UdL)InglésReproducció del document publicat a https://doi.org/10.3390/app131911115Applied Sciences, 2023, vol. 13, núm. 19, 11115, p. 1-19cc-by (c) The authors, 2023Attribution 4.0 Internationalinfo:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/4.0/oai:repositori.udl.cat:10459.1/4644802026-06-24T12:42:17Z
dc.title.none.fl_str_mv Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
title Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
spellingShingle Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
Rubies, Elena
Remote control device
Arm gestures
Humanoid robot
Telecontrol
title_short Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
title_full Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
title_fullStr Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
title_full_unstemmed Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
title_sort Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
dc.creator.none.fl_str_mv Rubies, Elena
Bitriá Ribes, Ricard
Clotet Bellmunt, Eduard
Palacín Roca, Jordi
author Rubies, Elena
author_facet Rubies, Elena
Bitriá Ribes, Ricard
Clotet Bellmunt, Eduard
Palacín Roca, Jordi
author_role author
author2 Bitriá Ribes, Ricard
Clotet Bellmunt, Eduard
Palacín Roca, Jordi
author2_role author
author
author
dc.subject.none.fl_str_mv Remote control device
Arm gestures
Humanoid robot
Telecontrol
topic Remote control device
Arm gestures
Humanoid robot
Telecontrol
description This work presents a remote control device designed to drive the arm gestures of an assistant humanoid mobile robot. The remote control is a master device with two passive arms configured to replicate the four degrees of freedom of each arm of the original assistant humanoid robot and send this information to the robot. This configuration allows the mobile robot to directly replicate the position of the arms on the remote controller. The objective of this proposal is to provide the robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance. The master device registers the angular position of each joint of its passive arms and transmits this information to the mobile robot, which replicates it. The experimental evaluation of the system has shown that the humanoid robot is able to successfully replicate any gesture on the remote controller. The positions of the arms have been sampled at a frame rate of 20 ms, and the average telecontrol delay obtained in the gesture experiments has been 549 ms, without appreciable jumps or irregularities in the gestures. The conclusion is that the direct manipulation of the passive arms of the remote control device provides the APR-02 humanoid robot with enhanced non-verbal and pointing communication capabilities during human interaction or assistance.
publishDate 2023
dc.date.none.fl_str_mv 2023
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://doi.org/10.3390/app131911115
https://hdl.handle.net/10459.1/464480
url https://doi.org/10.3390/app131911115
https://hdl.handle.net/10459.1/464480
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Reproducció del document publicat a https://doi.org/10.3390/app131911115
Applied Sciences, 2023, vol. 13, núm. 19, 11115, p. 1-19
dc.rights.none.fl_str_mv cc-by (c) The authors, 2023
Attribution 4.0 International
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/4.0/
rights_invalid_str_mv cc-by (c) The authors, 2023
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Repositori Obert UdL
instname:Universitat de Lleida (UdL)
instname_str Universitat de Lleida (UdL)
reponame_str Repositori Obert UdL
collection Repositori Obert UdL
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.81155

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