Conception and development of Dexto:Eka: The Humanoid Robot - Part IV

Author

Kumra, Sulabh ; Mohan, Mayumi ; Vaswani, Himanshu ; Gupta, Sumit

Author_Institution

Dept. of Electr. & Microelectron. Eng., Rochester Inst. of Technol., New York, NY, USA

fYear

2015

fDate

18-20 Feb. 2015

Firstpage

1

Lastpage

6

Abstract

This paper elucidates the fourth phase of the development of `Dexto:Eka: - The Humanoid Robot´. It lays special emphasis on the conception of the locomotion drive and the development of vision based system that aids navigation and tele-operation. The first three phases terminated with the completion of two robotic arms with six degrees of freedom each, structural development and the creation of a human machine interface that included an exo-frame, a control column and a graphical user interface. This phase also involved the enhancement of the exo-frame to a vision based system using a Kinect camera. The paper also focuses on the reasons behind choosing the locomotion drive and the benefits it has.

Keywords

control engineering computing; graphical user interfaces; humanoid robots; image sensors; manipulators; motion control; robot vision; telerobotics; Dexto:Eka; Kinect camera; control column; graphical user interface; human machine interface; humanoid robot; locomotion drive; robotic arms; structural development; tele-operation; vision based system; Cameras; Force; Graphical user interfaces; Robot vision systems; Wheels; anthropomorphic; humanoid; mecanum wheel drive; tele-operation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation, Control and Embedded Systems (RACE), 2015 International Conference on

Conference_Location

Chennai

Type

conf

DOI

10.1109/RACE.2015.7097232

Filename

7097232