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Author Jorge Alvarez; Mireya Zapata; Dennys Paillacho
Title Mechanical Design of a spatial mechanism for the robot head movements in social robotics for the evaluation of Human-Robot Interaction. Type Conference Article
Year 2019 Publication 2nd International Conference on Human Systems Engineering and Design: Future Trends and Applications (IHSED 2019); Munich, Alemania Abbreviated Journal
Volume 1026 Issue Pages 160-165
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Call Number gtsi @ user @ Serial 104
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Author Jorge Alvarez Tello; Mireya Zapata; Dennys Paillacho
Title Kinematic optimization of a robot head movements for the evaluation of human-robot interaction in social robotics. Type Conference Article
Year 2019 Publication 10th International Conference on Applied Human Factors and Ergonomics and the Affiliated Conferences (AHFE 2019), Washington D.C.; United States. Advances in Intelligent Systems and Computing Abbreviated Journal
Volume 975 Issue Pages 108-118
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Abstract This paper presents the simplification of the head movements from

the analysis of the biomechanical parameters of the head and neck at the

mechanical and structural level through CAD modeling and construction with

additive printing in ABS/PLA to implement non-verbal communication strategies and establish behavior patterns in the social interaction. This is using in the

denominated MASHI (Multipurpose Assistant robot for Social Human-robot

Interaction) experimental robotic telepresence platform, implemented by a

display with a fish-eye camera along with the mechanical mechanism, which

permits 4 degrees of freedom (DoF). In the development of mathematicalmechanical modeling for the kinematics codification that governs the robot and

the autonomy of movement, we have the Pitch, Roll, and Yaw movements, and

the combination of all of them to establish an active communication through

telepresence. For the computational implementation, it will be show the rotational matrix to describe the movement.
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Call Number gtsi @ user @ Serial 108
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Author Sebastián Fuenzalida; Keyla Toapanta; Jonathan S. Paillacho Corredores; Dennys Paillacho
Title Forward and Inverse Kinematics of a Humanoid Robot Head for Social Human Robot-Interaction Type Conference Article
Year 2019 Publication IEEE ETCM 2019 Fourth Ecuador Technical Chapters Meeting; Guayaquil, Ecuador Abbreviated Journal
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Abstract This paper presents an analysis of forward and inverse kinematics for a humanoid robotic head. The robotic head is used for the study of social human-robot interaction, such as a support tool to maintain the attention of patients with Autism Spectrum Disorder. The design of a parallel robot that emulates human head movements through a closed structure is presented. The position and orientation in this space is controlled by three servomotors. For this, the solutions made for the kinematic problem are encompassed by a geometric analysis of a mobile base. This article describes a non-systematic method,

called the geometric method, and compares some of the most popular existing methods considering reliability and computational cost. The geometric method avoids the use of changing reference systems, and instead uses geometric

relationships to directly obtain the position based on joint variables; and the other way around. Therefore, it converges in a few iterations and has a low computational cost.
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Notes Approved no
Call Number gtsi @ user @ Serial 113
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