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

dc.contributor.authorPalacín Roca, Jordi
dc.contributor.authorRubies, Elena
dc.contributor.authorClotet Bellmunt, Eduard
dc.date.accessioned2022-12-09T11:48:50Z
dc.date.available2022-12-09T11:48:50Z
dc.date.issued2022
dc.description.abstractThis 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.ca_ES
dc.description.sponsorshipThis 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.ca_ES
dc.identifier.doihttps://doi.org/10.3390/designs6040066
dc.identifier.idgrec032823
dc.identifier.issn2411-9660
dc.identifier.urihttp://hdl.handle.net/10459.1/84506
dc.language.isoengca_ES
dc.publisherMDPIca_ES
dc.relation.isformatofReproducció del document publicat a https://doi.org/10.3390/designs6040066ca_ES
dc.relation.ispartofDesigns, 2022, vol. 6, núm. 4, 66ca_ES
dc.rightscc-by (c) Jordi Palacín, Elena Rubies, Eduard Clotet, 2022ca_ES
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessca_ES
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectAssistant mobile robotca_ES
dc.subjectOmnidirectional mobile robotca_ES
dc.subjectSocial acceptabilityca_ES
dc.titleThe Assistant Personal Robot Project: From the APR-01 to the APR-02 Mobile Robot Prototypesca_ES
dc.typeinfo:eu-repo/semantics/articleca_ES
dc.type.versioninfo:eu-repo/semantics/publishedVersionca_ES
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