NDLI: Design of an interactive robotic head with human-like movements

Content Provider	IEEE Xplore Digital Library
Author	Muthugala, M.A.V.J. Munasinghe, M.K.B.S. Lakshan, M.H.C. Madurangi, L.H.H. Jayasekara, A.G.B.P.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. Eng., Univ. of Moratuwa, Moratuwa, Sri Lanka (Muthugala, M.A.V.J.; Munasinghe, M.K.B.S.; Lakshan, M.H.C.; Madurangi, L.H.H.; Jayasekara, A.G.B.P.)
Abstract	A vast range of human-friendly interactive robotics heads are developed by researchers. However, the interactive robot heads require improvements in construction and behavior to achieve more human-like interaction. Therefore this paper proposes a design of an interactive robotic head with human-like movements and human-friendly interactive features. The design parameters have been identified by analyzing the biomechanical information related to basic head movements. The proposed robotic head is incorporated with 3-degrees of freedom (DOF) for the neck and 3-DOFs for eyes. Vision has been achieved by using two cameras which act as eyes. The Details of the kinematic analysis, particulars on mechanical design of the system, the electrical and control system of the robotic head are provided. An interactive robotic head movement by tracking human hand movements is targeted initially as an interactive feature. A simulation model of the proposed robot has been developed for testing and analysis. The simulation results for a selected movement of the robot for the above mentioned scenario is presented. Further, the proposed robotic head is designed in such a way that it can be used as a platform for facilitating further developments in integrating more interactive features to robotic heads.
Starting Page	355
Ending Page	360
File Size	1252594
Page Count	6
File Format	PDF
ISBN	9781479909087
e-ISBN	9781479909100
DOI	10.1109/ICIInfS.2013.6732009
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-17
Publisher Place	Sri Lanka
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Head Service robots Robot kinematics interactive robot head Human biomechanics robot kinematics Cameras Magnetic heads Neck mechanical design
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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