Many Faced Robot - Design and Manufacturing of a Parametric, Modular and Open Source Robot Head

Netzev, Metodi; Houbre, Quentin; Airaksinen, Eetu; Angleraud, Alexandre; Pieters, Roel

doi:10.1109/urai.2019.8768616

Cited by 4 publications

(6 citation statements)

References 11 publications

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“…(D) robust Arms for robotic cauliflower harvesting (Klein et al, 2019 ). (E) a parametric, modular and open source robot head for the GummiArm (Netzev et al, 2019 ). (F) soft and robust arms for a huggable social robot (Casas-Bocanegra et al, 2020 ).…”

Section: Resultsmentioning

confidence: 99%

“…For simplicity, the work limited the actions to one degree of freedom movement (the upperarm roll ). Visual input is provided by the MaFaRo (Netzev et al, 2019 ) robot head. The exploitation behavior led to an increase of visual reward, while the switch between exploration and exploitation behaviors prevented the system from stagnating in one of the two.…”

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

“…The system employed Dynamixel servomotors actuating composite tendons with a Filaflex core and meshed nylon around it. In Netzev et al (2019) a parametric, modular and open source robot head for the GummiArm was developed. Mick et al (2019) proposed a robotic arm, (Reachy, see Table 1), suitable for research in control strategies and interfaces in human-driven robotics, such as neuroprosthesis or teleoperated robotics.…”

Section: Other Usagementioning

confidence: 99%

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The GummiArm Project: A Replicable and Variable-Stiffness Robot Arm for Experiments on Embodied AI

et al. 2022

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Robots used in research on Embodied AI often need to physically explore the world, to fail in the process, and to develop from such experiences. Most research robots are unfortunately too stiff to safely absorb impacts, too expensive to repair if broken repeatedly, and are never operated without the red kill-switch prominently displayed. The GummiArm Project was intended to be an open-source “soft” robot arm with human-inspired tendon actuation, sufficient dexterity for simple manipulation tasks, and with an eye on enabling easy replication of robotics experiments. The arm offers variable-stiffness and damped actuation, which lowers the potential for damage, and which enables new research opportunities in Embodied AI. The arm structure is printable on hobby-grade 3D printers for ease of manufacture, exploits stretchable composite tendons for robustness to impacts, and has a repair-cycle of minutes when something does break. The material cost of the arm is less than $6000, while the full set of structural parts, the ones most likely to break, can be printed with less than $20 worth of plastic filament. All this promotes a concurrent approach to the design of “brain” and “body,” and can help increase productivity and reproducibility in Embodied AI research. In this work we describe the motivation for, and the development and application of, this 6 year project.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Other Usagementioning

confidence: 99%

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The GummiArm Project: A Replicable and Variable-Stiffness Robot Arm for Experiments on Embodied AI

et al. 2022

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“…They can also be seen in conversational humanoid robotics [157] allowing the configuration of a human-like face with emotions displayed due to servomotors. The flexibility allowed by 3D printing can also be exploited to easily change designs and reconfigure robots, as shown in [164] where an approach for socially interactive robots reconfiguration for end users has been presented, offering different functionalities. In the same context, 3D printing was relied on in [165] to reach a robot head in an iterative process taking into account the opinions of novices and expert robot users.…”

Section: Additive Manufacturingmentioning

confidence: 99%

A Survey on Recent Advances in Social Robotics

et al. 2022

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Over decades, social robotics has evolved as a concept that presently covers different areas of application, and interacts with different domains in technology, education, medicine and others. Today, it is possible to envision social robots in tasks that were not expected years ago, and that is not only due to the evolution of social robots, but also to the evolution of the vision humans have for them. This survey addresses recent advances in social robotics from different perspectives. Different contexts and areas of application of social robots are addressed, as well as modalities of interaction with humans. Different robotic platforms used in social contexts are shown and discussed. Relationships of social robotics with advances in other technological areas are surveyed, and methods and metrics used for the human evaluation of the interaction with robots are presented. The future of social robotics is also envisioned based on surveyed works and from different points of view.

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Balancing Exploration and Exploitation: A Neurally Inspired Mechanism to Learn Sensorimotor Contingencies

Houbre

Angleraud

Pieters

2021

Springer Proceedings in Advanced Robotics

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Many Faced Robot - Design and Manufacturing of a Parametric, Modular and Open Source Robot Head

Cited by 4 publications

References 11 publications

The GummiArm Project: A Replicable and Variable-Stiffness Robot Arm for Experiments on Embodied AI

The GummiArm Project: A Replicable and Variable-Stiffness Robot Arm for Experiments on Embodied AI

A Survey on Recent Advances in Social Robotics

Balancing Exploration and Exploitation: A Neurally Inspired Mechanism to Learn Sensorimotor Contingencies

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