DC Field | Value | Language |
---|---|---|
dc.contributor.author | Tatsch, Christopher | ko |
dc.contributor.author | Ahmadi, Ahmadreza | ko |
dc.contributor.author | Bottega, Fabricio | ko |
dc.contributor.author | Tani, Jun | ko |
dc.contributor.author | Guerra, Rodrigo da Silva | ko |
dc.date.accessioned | 2018-08-21T04:40:14Z | - |
dc.date.available | 2018-08-21T04:40:14Z | - |
dc.date.created | 2018-08-20 | - |
dc.date.created | 2018-08-20 | - |
dc.date.issued | 2018-08 | - |
dc.identifier.citation | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.91, no.2, pp.291 - 300 | - |
dc.identifier.issn | 0921-0296 | - |
dc.identifier.uri | http://hdl.handle.net/10203/245186 | - |
dc.description.abstract | We introduce Dimitri, an open-software & open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot interaction research, force-informed object handling and intelligent environment discovery. Our main innovation is in the design of a robust full-body biped humanoid robot equipped with very low-cost polyurethane torsional spring fixed to traditional servo motors and a circuit to measure angular displacement, transforming the system into a series elastic actuator (SEA). In order to illustrate the robot's qualities in the field of machine learning applied to robotics and manipulation, a multiple timescale recurrent neural network (MTRNN) is implemented, allowing the robot to replicate combined movement sequences earlier taught via interactive demonstration. | - |
dc.language | English | - |
dc.publisher | SPRINGER | - |
dc.title | Dimitri: an Open-Source Humanoid Robot with Compliant Joint | - |
dc.type | Article | - |
dc.identifier.wosid | 000440700500015 | - |
dc.identifier.scopusid | 2-s2.0-85032015971 | - |
dc.type.rims | ART | - |
dc.citation.volume | 91 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 291 | - |
dc.citation.endingpage | 300 | - |
dc.citation.publicationname | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | - |
dc.identifier.doi | 10.1007/s10846-017-0727-y | - |
dc.contributor.nonIdAuthor | Tatsch, Christopher | - |
dc.contributor.nonIdAuthor | Bottega, Fabricio | - |
dc.contributor.nonIdAuthor | Tani, Jun | - |
dc.contributor.nonIdAuthor | Guerra, Rodrigo da Silva | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Humanoid robot | - |
dc.subject.keywordAuthor | Compliant joints | - |
dc.subject.keywordAuthor | MTRNN | - |
dc.subject.keywordAuthor | Neural network | - |
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