The design and validation of the R1 personal humanoid

Parmiggiani, Alberto; Fiorio, Luca; Scalzo, Alessandro; Sureshbabu, Anand Vazhapilli; Randazzo, Marco; Maggiali, Marco; Pattacini, Ugo; Lehmann, Hagen; Tikhanoff, Vadim; Domenichelli, Daniele E.; Cardellino, Alberto; Congiu, Pierpaolo; Pagnin, Adriano; Cingolani, R.; Natale, Lorenzo; Metta, Giorgio

doi:10.1109/iros.2017.8202224

Cited by 44 publications

(28 citation statements)

References 7 publications

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“…In this paper, we used the humanoid robot R1 [12] and developed its virtual version within the simulation environment Gazebo. The devised framework, shown in Fig.…”

Section: The Frameworkmentioning

confidence: 99%

Train with Me: A Study Comparing a Socially Assistive Robot and a Virtual Agent for a Rehabilitation Task

et al. 2019

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Long-term motor deficits affect approximately two thirds of stroke survivors, reducing their quality of life. An effective rehabilitation therapy requires intense and repetitive training, which is resource demanding. Virtual Agents (VAs) and Socially Assistive Robots (SARs) offer high intensity, repetitive and reproducible therapy and are thus both promising as rehabilitation tools. In this paper, we compare a SAR and a VA during a rehabilitation task in terms of users' engagement and movement performance, while leveraging neuroscientific methods to investigate potential differences at the neural level. Results show that our participants' performance on the exercise was higher with a SAR than with a VA, which was especially clear under conditions of decreased perceptual information. Our participants reported higher levels of engagement with the SAR. Taken together, we provide evidence that SARs are a favorable alternative to VAs as rehabilitation tools.

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“…In this paper, we used the humanoid robot R1 [12] and developed its virtual version within the simulation environment Gazebo. The devised framework, shown in Fig.…”

Section: The Frameworkmentioning

confidence: 99%

Train with Me: A Study Comparing a Socially Assistive Robot and a Virtual Agent for a Rehabilitation Task

et al. 2019

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“…Michelangelo claims to have the first thumb in the world that can be positioned electronically. The R1 is a service robot [46] that is built for domestic applications.The R1 hand [47] uses a completely plastic structure with embedded electronics. It has two actuated degrees of freedom (DOF) with four phalanges, coupling two phalanges to each degree of actuation.…”

Section: Other Evaluated Robotic Handsmentioning

confidence: 99%

A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index

2019

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The evaluation of robotic hands is a subjectively biased, complex process. The fields pertaining to robotic hands are human-centric in nature, making human hands a good standard for benchmark comparisons of robotic hands. To achieve this, we propose a new evaluation index, where we evaluate robotic hands on three fronts: their form, features and performance. An evaluation on how anthropomorphic robotic hands are in basic mobility, and appearance constitutes the "Form", while features that can be read, changed and actuated for effective control of robotic hands constitutes the "Features". We derived these key features from an extensive analysis of robotic hands in literature. Finally, the robotic hands carry out a series of tasks that evaluate their "Performance". An individual score for each category is drawn and we carry out a three-pronged analysis. We also propose an additional feature in the form of price to provide context when analysing multiple hands.

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“…The second example refers to a real wheeled robot (i.e. R1 (Parmiggiani et al, 2017 )) controlled by yarpRobotInterface , the core YARP application which manages the low-level hardware control. In this case, navigation task is carried out by ROS navigation stack encapsulated inside move_base node.…”

Section: Navigation Integration and Examplesmentioning

confidence: 99%

YARP-ROS Inter-Operation in a 2D Navigation Task

2018

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This paper presents some recent developments in YARP middleware, aimed to improve its integration with ROS. They include a new mechanism to read/write ROS transform frames and a new set of standard interfaces to intercommunicate with the ROS navigation stack. A novel set of YARP companion modules, which provide basic navigation functionalities for robots unable to run ROS, is also presented. These modules are optional, independent from each other, and they provide compatible functionalities to well-known packages available inside ROS framework. This paper also discusses how developers can customize their own hybrid YARP-ROS environment in the way it best suits their needs (e.g., the system can be configured to have a YARP application sending navigation commands to a ROS path planner, or vice versa). A number of available possibilities is presented through a set of chosen test cases applied to both real and simulated robots. Finally, example applications discussed in this paper are also made available to the community by providing snippets of code and links to source files hosted on github repository https://github.com/robotology.

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The design and validation of the R1 personal humanoid

Cited by 44 publications

References 7 publications

Train with Me: A Study Comparing a Socially Assistive Robot and a Virtual Agent for a Rehabilitation Task

Train with Me: A Study Comparing a Socially Assistive Robot and a Virtual Agent for a Rehabilitation Task

A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index

YARP-ROS Inter-Operation in a 2D Navigation Task

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