HYDROïD Humanoid Robot Head with Perception and Emotion Capabilities: Modeling, Design, and Experimental Results

Alfayad, Samer; Asswad, Mohamad El; Abdellatif, A.; Ouezdou, Fethi Ben; Blanchard, Arnaud; Beaussé, Nils; Gaussier, Philippe

doi:10.3389/frobt.2016.00015

Cited by 12 publications

(8 citation statements)

References 17 publications

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“…The mechanical design will integrate the air flow control to enhance the odor reception and the transition and recovery time between two measurements. The humanoid robot named HYDROID [52] that we are building is functioning with hydraulic pumps and air flows that can be derivated to clean small chambers integrated in the nose. The measurement of temperature, humidity and strength of flow will also be added in order to be more robust and increase the accuracy.…”

Section: Discussionmentioning

confidence: 99%

Compact and Embedded Electronic Nose for Volatile and Non-Volatile Odor Classification for Robot Applications

et al. 2019

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Electronic noses are studied and developed since many years, aiming today to enhance the sensitivity floor, the response time, or characterize new chemical processes. Nowadays, the most performant apparatus are cumbersome, expensive, and not fully dedicated to mobile systems. Most of the researches related to embedded noses on moving applications aim to develop mapping or source detection of toxic gases, enhancing the geometry of the nose and taking into account the air flow perturbations. In this study, we aimed to develop a compact electronic nose dedicated to identify volatile and nonvolatile odors. The aim is at midterm to embed it on a humanoid robot. The purpose is to achieve a compact and embedded electronic nose to provide an added function for robots evolving in their daily environment and able to learn more odors. The final goal is mainly to use it in human-like behavior, mostly to sense food with several conditioning possibilities like volatile or nonvolatile odors. The developed E-Nose has four MOS gas sensors, embedded electronics, and software based on k-nearest neighbors' classification algorithm. Experimental results show success rates up to 98% to differentiate between four fruits juices, namely apple, orange, pineapple, and grenade and to identify rotten eggs from good eggs, grenade perfume, and butane gas, in less than 60 s. An extensible interface enables the E-Nose to learn more odors.

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Section: Discussionmentioning

confidence: 99%

Compact and Embedded Electronic Nose for Volatile and Non-Volatile Odor Classification for Robot Applications

et al. 2019

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“…The prototype proposed in this paper is the result of research on robot necks, mainly in the configuration of parallel robots for the advantages of [22]. The motions of the human neck include flexion / extension (pitch), vertical rotation (yaw) and lateral flexion (roll) [23], as shown in Fig. 1.…”

Section: Robotic Neckmentioning

confidence: 99%

A first approach to a proposal of a soft robotic link acting as a neck

Nagua¹,

Muñoz²,

Monje³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF) and propose a control system based on a fractional order PD controller (FPD). The neck will be able to perform movements of flexion, extension and lateral bending. To achieve these movements, the design is made based on a cable-driven mechanism, with components easy to manufacture in a 3D printer. Simulations are performed to validate the feasibility of the developed parallel robot prototype and the robustness of the proposed control scheme to mass changes at the tip.

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“…The human neck has three DOF that allow for flexion/extension (pitch), vertical rotation (yaw), and lateral flexion (roll) [33]. These movements can be seen in Figure 2.…”

Section: B Soft Neck Platformmentioning

confidence: 99%

SMA-Driven Soft Robotic Neck: Design, Control and Validation

et al. 2020

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Replicating the behavior and movement of living organisms to develop robots which are better adapted to the human natural environment is a major area of interest today. Soft device development is one of the most promising and innovative technological fields to meet this challenge. However, soft technology lacks of suitable actuators, and therefore, development and integration of soft actuators is a priority. This paper presents the development and control of a soft robotic neck which is actuated by a flexible Shape Memory Alloy (SMA)-based actuator. The proposed neck has two degrees of freedom that allow movements of inclination and orientation, thus approaching the actual movement of the human neck. The platform we have developed may be considered a real soft robotic device since, due to its flexible SMAbased actuator, it has much fewer rigid parts compared to similar platforms. Weight and motion noise have also been considerably reduced due to the lack of gear boxes, housing and bearings, which are commonly used in conventional actuators to reduce velocity and increase torque.

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HYDROïD Humanoid Robot Head with Perception and Emotion Capabilities: Modeling, Design, and Experimental Results

Cited by 12 publications

References 17 publications

Compact and Embedded Electronic Nose for Volatile and Non-Volatile Odor Classification for Robot Applications

Compact and Embedded Electronic Nose for Volatile and Non-Volatile Odor Classification for Robot Applications

A first approach to a proposal of a soft robotic link acting as a neck

SMA-Driven Soft Robotic Neck: Design, Control and Validation

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