Title :
Human Machine Interface for Dexto Eka: - The humanoid robot
Author :
Kumra, Sulabh ; Mohan, Mayumi ; Gupta, Sumit ; Vaswani, Himanshu
Author_Institution :
Dept. of Electr. & Microelectron. Eng., Rochester Inst. of Technol., New York, NY, USA
Abstract :
This paper illustrates hybrid control system of the humanoid robot, Dexto:Eka: focusing on the dependent or slave mode. Efficiency of any system depends on the fluid operation of its control system. Here, we elucidate the control of 12 DoF robotic arms and an omnidirectional mecanum wheel drive using an exo-frame, and a Graphical User Interface (GUI) and a control column. This paper comprises of algorithms, control mechanisms and overall flow of execution for the regulation of robotic arms, graphical user interface and locomotion.
Keywords :
control engineering computing; graphical user interfaces; human-robot interaction; humanoid robots; manipulators; wheels; 12 DoF robotic arm; Dexto Eka; GUI; control column; graphical user interface; human machine interface; humanoid robot; hybrid control system; omnidirectional mecanum wheel drive; slave mode; Graphical user interfaces; Manipulators; Microcontrollers; Robot sensing systems; Temperature sensors; control column; exoskeleton; graphical user interface; omni direction; robotic arm;
Conference_Titel :
Robotics, Automation, Control and Embedded Systems (RACE), 2015 International Conference on
Conference_Location :
Chennai
DOI :
10.1109/RACE.2015.7097236
