DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ahmadi, Ahmadreza | ko |
dc.contributor.author | Tatsch, Christopher | ko |
dc.contributor.author | Montenegro, Fabricio Julian Carini | ko |
dc.contributor.author | Tani, Jun | ko |
dc.contributor.author | Guerra, Rodrigo Da Silva | ko |
dc.date.accessioned | 2023-09-25T06:00:19Z | - |
dc.date.available | 2023-09-25T06:00:19Z | - |
dc.date.created | 2023-09-25 | - |
dc.date.issued | 2016-10 | - |
dc.identifier.citation | 13th Latin American Robotics Symposium and 4th Brazilian Symposium on Robotics, LARS/SBR 2016, pp.67 - 72 | - |
dc.identifier.uri | http://hdl.handle.net/10203/312905 | - |
dc.description.abstract | This work presents Dimitri, an open-software & open-hardware robot torso equipped with modular low cost compliant joints, built to allow advanced research on human-robot interaction, force-aware object manipulation and environment exploration. The robot has 13 DOFs: 4 DOFs with series elastic actuators in each arm, 3 DOFs for roll, pitch and yaw of the waist, and 2 DOFs for head pan and tilt. Our main innovation is in the employment of a polyurethane based compliant spring system attached to conventional robotics servo motors, turning them into low-cost series elastic actuators (SEAs). To demonstrate the robot's capabilities in the context of cognitive robotics research and goal-directed behavior, we successfully employed a multiple timescale recurrent neural network (MTRNN), enabling the robot to reproduce combined prototypical movement patterns previously trained via interactive demonstration. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Dimitri: A Low-Cost Compliant Humanoid Torso Designed for Cognitive Robotics Research | - |
dc.type | Conference | - |
dc.identifier.wosid | 000391200900012 | - |
dc.identifier.scopusid | 2-s2.0-85010458344 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 67 | - |
dc.citation.endingpage | 72 | - |
dc.citation.publicationname | 13th Latin American Robotics Symposium and 4th Brazilian Symposium on Robotics, LARS/SBR 2016 | - |
dc.identifier.conferencecountry | BL | - |
dc.identifier.conferencelocation | Recife, Pernambuco | - |
dc.identifier.doi | 10.1109/LARS-SBR.2016.18 | - |
dc.contributor.localauthor | Tani, Jun | - |
dc.contributor.nonIdAuthor | Tatsch, Christopher | - |
dc.contributor.nonIdAuthor | Montenegro, Fabricio Julian Carini | - |
dc.contributor.nonIdAuthor | Guerra, Rodrigo Da Silva | - |
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