Development of an anthropomorphic mobile manipulator with human, machine and environment interaction
Autor(a) principal: | |
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Data de Publicação: | 2019 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/70283 |
Resumo: | An anthropomorphic mobile manipulator robot (CHARMIE) is being developed by the University of Minho's Automation and Robotics Laboratory (LAR). The robot gathers sensorial information and processes using neural networks, actuating in real time. The robot's two arms allow object and machine interaction. Its anthropomorphic structure is advantageous since machines are designed and optimized for human interaction. Sound output allows it to relay information to workers and provide feedback. Allying these features with communication with a database or remote operator results in establishment of a bridge between the physical environment and virtual domain. The goal is an increase in information flow and accessibility. This paper presents the current state of the project, intended features and how it can contribute to the development of Industry 4.0. Focus is given to already finished work, detailing the methodology used for two of the robot's subsystems: locomotion system; lower limbs of the robot. |
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Development of an anthropomorphic mobile manipulator with human, machine and environment interactionRoboticsMobile manipulatorService robotMechatronicsScience & TechnologyAn anthropomorphic mobile manipulator robot (CHARMIE) is being developed by the University of Minho's Automation and Robotics Laboratory (LAR). The robot gathers sensorial information and processes using neural networks, actuating in real time. The robot's two arms allow object and machine interaction. Its anthropomorphic structure is advantageous since machines are designed and optimized for human interaction. Sound output allows it to relay information to workers and provide feedback. Allying these features with communication with a database or remote operator results in establishment of a bridge between the physical environment and virtual domain. The goal is an increase in information flow and accessibility. This paper presents the current state of the project, intended features and how it can contribute to the development of Industry 4.0. Focus is given to already finished work, detailing the methodology used for two of the robot's subsystems: locomotion system; lower limbs of the robot.- This project has been supported by the ALGORITMI Research Centre of University of Minho's School of Engineering.University of Belgrade. Faculty of Mechanical EngineeringUniversidade do MinhoGonçalves, FernandoRibeiro, TiagoGarcia, InêsRibeiro, A. FernandoMonteiro, A. CaetanoLopes, Gil2019-01-012019-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/1822/70283eng1451-209210.5937/fmet1904790Finfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-21T12:09:24Zoai:repositorium.sdum.uminho.pt:1822/70283Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:00:47.731420Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction |
title |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction |
spellingShingle |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction Gonçalves, Fernando Robotics Mobile manipulator Service robot Mechatronics Science & Technology |
title_short |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction |
title_full |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction |
title_fullStr |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction |
title_full_unstemmed |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction |
title_sort |
Development of an anthropomorphic mobile manipulator with human, machine and environment interaction |
author |
Gonçalves, Fernando |
author_facet |
Gonçalves, Fernando Ribeiro, Tiago Garcia, Inês Ribeiro, A. Fernando Monteiro, A. Caetano Lopes, Gil |
author_role |
author |
author2 |
Ribeiro, Tiago Garcia, Inês Ribeiro, A. Fernando Monteiro, A. Caetano Lopes, Gil |
author2_role |
author author author author author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Gonçalves, Fernando Ribeiro, Tiago Garcia, Inês Ribeiro, A. Fernando Monteiro, A. Caetano Lopes, Gil |
dc.subject.por.fl_str_mv |
Robotics Mobile manipulator Service robot Mechatronics Science & Technology |
topic |
Robotics Mobile manipulator Service robot Mechatronics Science & Technology |
description |
An anthropomorphic mobile manipulator robot (CHARMIE) is being developed by the University of Minho's Automation and Robotics Laboratory (LAR). The robot gathers sensorial information and processes using neural networks, actuating in real time. The robot's two arms allow object and machine interaction. Its anthropomorphic structure is advantageous since machines are designed and optimized for human interaction. Sound output allows it to relay information to workers and provide feedback. Allying these features with communication with a database or remote operator results in establishment of a bridge between the physical environment and virtual domain. The goal is an increase in information flow and accessibility. This paper presents the current state of the project, intended features and how it can contribute to the development of Industry 4.0. Focus is given to already finished work, detailing the methodology used for two of the robot's subsystems: locomotion system; lower limbs of the robot. |
publishDate |
2019 |
dc.date.none.fl_str_mv |
2019-01-01 2019-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/70283 |
url |
http://hdl.handle.net/1822/70283 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
1451-2092 10.5937/fmet1904790F |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
University of Belgrade. Faculty of Mechanical Engineering |
publisher.none.fl_str_mv |
University of Belgrade. Faculty of Mechanical Engineering |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799132404322926592 |