2019 |
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Jorge Alvarez Tello, Mireya Zapata, & Dennys Paillacho. (2019). Kinematic optimization of a robot head movements for the evaluation of human-robot interaction in social robotics. In 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 (Vol. 975, pp. 108–118).
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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Sebastián Fuenzalida, Keyla Toapanta, Jonathan S. Paillacho Corredores, & Dennys Paillacho. (2019). Forward and Inverse Kinematics of a Humanoid Robot Head for Social Human Robot-Interaction. In IEEE ETCM 2019 Fourth Ecuador Technical Chapters Meeting; Guayaquil, Ecuador.
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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2017 |
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Lukas Danev, Marten Hamann, Nicolas Fricke, Tobias Hollarek, & Dennys Paillacho. (2017). Development of animated facial expression to express emotions in a robot: RobotIcon. In IEEE Ecuador Technical Chapter Meeting (ETCM) (Vol. 2017-January, pp. 1–6).
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2015 |
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Dennys Paillacho, Cecilio Angulo, & Marta Díaz. (2015). An Exploratory Study of Group-Robot Social Interactions in a Cultural Center. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, International Conference on, Hamburg, Germany, 2015.
Abstract: This article describes an exploratory study of social human-robot interaction with the experimental robotic platform MASHI. The experiences were carried out in La B`obila Cultural Center in Barcelona, Spain to study the visitor preferences, characterize the groups and their spatial relationships in this open and unstructured environment. Results showed that visitors prefers to play and dialogue with the robot. Children have the highest interest in interacting with the robot, more than young and adult visitors. Most of the groups consisted of more than 3 visitors, however the size of the groups during interactions was continuously changed. In static situations, the observed spatial relationships denotes a social cohesion in the human-robot interactions.
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