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

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dc.contributor.authorRubies, Elena
dc.contributor.authorBitriá, Ricard
dc.contributor.authorClotet Bellmunt, Eduard
dc.contributor.authorPalacín Roca, Jordi
dc.date.accessioned2023-11-09T17:45:21Z
dc.date.available2023-11-09T17:45:21Z
dc.date.issued2023-10-09
dc.description.abstractThis 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.
dc.description.sponsorshipThe 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.
dc.identifier.doihttps://doi.org/10.3390/app131911115
dc.identifier.idgrec034342
dc.identifier.issn2076-3417
dc.identifier.urihttps://repositori.udl.cat/handle/10459.1/464480
dc.language.isoeng
dc.publisherMDPI
dc.relation.isformatofReproducció del document publicat a https://doi.org/10.3390/app131911115
dc.relation.ispartofApplied Sciences, 2023, vol. 13, núm. 19, 11115, p. 1-19
dc.rightscc-by (c) The authors, 2023
dc.rightsAttribution 4.0 International*
dc.rights.accessRightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectRemote control device
dc.subjectArm gestures
dc.subjectHumanoid robot
dc.subjectTelecontrol
dc.titleRemote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
dc.typeinfo:eu-repo/semantics/article
dc.type.versioninfo:eu-repo/semantics/publishedVersion
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