The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes

This paper describes the evolution of the Assistant Personal Robot (APR) project developed at the Robotics Laboratory of the University of Lleida, Spain. This paper describes the first APR-01 prototype developed, the basic hardware improvement, the specific anthropomorphic improvements, and the pref...

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Detalles Bibliográficos
Autores: Palacín Roca, Jordi, Rubies, Elena, Clotet Bellmunt, Eduard
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2022
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10459.1/84506
Acceso en línea:https://doi.org/10.3390/designs6040066
http://hdl.handle.net/10459.1/84506
Access Level:acceso abierto
Palabra clave:Assistant mobile robot
Omnidirectional mobile robot
Social acceptability
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spelling The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot PrototypesPalacín Roca, JordiRubies, ElenaClotet Bellmunt, EduardAssistant mobile robotOmnidirectional mobile robotSocial acceptabilityThis paper describes the evolution of the Assistant Personal Robot (APR) project developed at the Robotics Laboratory of the University of Lleida, Spain. This paper describes the first APR-01 prototype developed, the basic hardware improvement, the specific anthropomorphic improvements, and the preference surveys conducted with engineering students from the same university in order to maximize the perceived affinity with the final APR-02 mobile robot prototype. The anthropomorphic improvements have covered the design of the arms, the implementation of the arm and symbolic hand, the selection of a face for the mobile robot, the selection of a neutral facial expression, the selection of an animation for the mouth, the application of proximity feedback, the application of gaze feedback, the use of arm gestures, the selection of the motion planning strategy, and the selection of the nominal translational velocity. The final conclusion is that the development of preference surveys during the implementation of the APR-02 prototype has greatly influenced its evolution and has contributed to increase the perceived affinity and social acceptability of the prototype, which is now ready to develop assistance applications in dynamic workspaces.This research was partially funded by the Accessibility Chair promoted by Indra, Adecco Foundation and the University of Lleida Foundation from 2006 to 2018. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results.MDPI202220222022info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttps://doi.org/10.3390/designs6040066http://hdl.handle.net/10459.1/84506http://hdl.handle.net/10459.1/84506reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)InglésReproducció del document publicat a https://doi.org/10.3390/designs6040066Designs, 2022, vol. 6, núm. 4, 66cc-by (c) Jordi Palacín, Elena Rubies, Eduard Clotet, 2022info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/4.0/oai:recercat.cat:10459.1/845062026-05-29T05:05:01Z
dc.title.none.fl_str_mv The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
title The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
spellingShingle The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
Palacín Roca, Jordi
Assistant mobile robot
Omnidirectional mobile robot
Social acceptability
title_short The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
title_full The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
title_fullStr The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
title_full_unstemmed The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
title_sort The Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypes
dc.creator.none.fl_str_mv Palacín Roca, Jordi
Rubies, Elena
Clotet Bellmunt, Eduard
author Palacín Roca, Jordi
author_facet Palacín Roca, Jordi
Rubies, Elena
Clotet Bellmunt, Eduard
author_role author
author2 Rubies, Elena
Clotet Bellmunt, Eduard
author2_role author
author
dc.subject.none.fl_str_mv Assistant mobile robot
Omnidirectional mobile robot
Social acceptability
topic Assistant mobile robot
Omnidirectional mobile robot
Social acceptability
description This paper describes the evolution of the Assistant Personal Robot (APR) project developed at the Robotics Laboratory of the University of Lleida, Spain. This paper describes the first APR-01 prototype developed, the basic hardware improvement, the specific anthropomorphic improvements, and the preference surveys conducted with engineering students from the same university in order to maximize the perceived affinity with the final APR-02 mobile robot prototype. The anthropomorphic improvements have covered the design of the arms, the implementation of the arm and symbolic hand, the selection of a face for the mobile robot, the selection of a neutral facial expression, the selection of an animation for the mouth, the application of proximity feedback, the application of gaze feedback, the use of arm gestures, the selection of the motion planning strategy, and the selection of the nominal translational velocity. The final conclusion is that the development of preference surveys during the implementation of the APR-02 prototype has greatly influenced its evolution and has contributed to increase the perceived affinity and social acceptability of the prototype, which is now ready to develop assistance applications in dynamic workspaces.
publishDate 2022
dc.date.none.fl_str_mv 2022
2022
2022
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/designs6040066
http://hdl.handle.net/10459.1/84506
http://hdl.handle.net/10459.1/84506
url https://doi.org/10.3390/designs6040066
http://hdl.handle.net/10459.1/84506
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/designs6040066
Designs, 2022, vol. 6, núm. 4, 66
dc.rights.none.fl_str_mv cc-by (c) Jordi Palacín, Elena Rubies, Eduard Clotet, 2022
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/4.0/
rights_invalid_str_mv cc-by (c) Jordi Palacín, Elena Rubies, Eduard Clotet, 2022
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:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
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