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 mathematical-mechanical 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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Acknowledgements
The authors would like to express their very great appreciation to L’Hospitalet City Hall and the BarcelonaTech in Barcelona, Spain for providing the research facilities used in this study. We are particularly grateful for the encouraging support of Mr. Ricardo Castro at La Bóbila Cultural Center. Assistance provided by Mr. Carlos Gómez and Ms. Rosa Almachi are also greatly appreciated.
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Tello, J.A., Zapata, M., Paillacho, D. (2020). Kinematic Optimization of the Robot Head Movements for the Evaluation of Human-Robot Interaction in Social Robotics. In: Di Nicolantonio, M., Rossi, E., Alexander, T. (eds) Advances in Additive Manufacturing, Modeling Systems and 3D Prototyping. AHFE 2019. Advances in Intelligent Systems and Computing, vol 975. Springer, Cham. https://doi.org/10.1007/978-3-030-20216-3_11
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