Abstract
In the framework of the HYDROiD humanoid robot project, this paper describes the modeling and design of an electrically actuated head mechanism. Perception and emotion capabilities are considered in the design process. Since HYDROiD humanoid robot is hydraulically actuated, the choice of electrical actuation for the head mechanism addressed in this paper is justified. Considering perception and emotion capabilities leads to a total number of 15 degrees of freedom for the head mechanism which are split on four main sub-mechanisms: the neck, the mouth, the eyes and the eyebrows. Biological data and kinematics performances of human head are taken as inputs of the design process. A new solution of uncoupled eyes is developed to possibly address the master-slave process that links the human eyes as well as vergence capabilities. Modeling each sub-system is carried out in order to get equations of motion, their frequency responses and their transfer functions. The neck pitch rotation is given as a study example. Then, the head mechanism performances are presented through a comparison between model and experimental results validating the hardware capabilities. Finally, the head mechanism is integrated on the HYDROiD upper-body. An object tracking experiment coupled with emotional expressions is carried out to validate the synchronization of the eye rotations with the body motions.
Highlights
The design of a humanoid robot capable of interacting with humans and the environment is still a challenging problem
We have to consider the two following dynamic equations on the motor axis: The aim of this section is to establish the system mathematical model in order to get the equation of motion, the frequency response, and the transfer function
The left part of the figure shows the head mechanism mounted on the upper body of HYDROïD humanoid robot while the right one shows the standalone desk version during experimental tests
Summary
The design of a humanoid robot capable of interacting with humans and the environment is still a challenging problem This leads to the development of a wide variety of full size humanoid prototypes, such as ASIMO (Hirai et al, 1998), WABIAN (Ogura et al, 2006), HRP-4 (Kaneko et al, 2011), ATLAS (Banerjee et al, 2015), and the underdevelopment HYDROïD (Alfayad, 2011). Such prototypes offer several capabilities to ensure physical interaction with the environment through either manipulating objects or walking in a domestic environment. The last class of HYDROïD Humanoid Robot Head with Perception and Emotion Capabilities humanoid robots deals with the middle size prototypes, such as iCub (Beira et al, 2006) and Poppy (Lapeyre et al, 2013)
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