Design of a Spherically Actuated Human Interaction Robot Head
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055001_1.pdf
Size
2.11 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Mitamura, Takeshi
Hanumara, Nevan Clancy
Slocum, Alexander H
Date Issued
April 2012
Journal
Journal of Mechanical Design
Publisher
ASME International
Citation
Hanumara, Nevan C. et al. “Design of a Spherically Actuated Human Interaction Robot Head.” Journal of Mechanical Design 134, 5 (2012): 055001 © 2012 American Society of Mechanical Engineers
Version
Final published version
Abstract
This paper presents the development of a mechanism for actuating a sphere holonomically about 3 degrees of freedom (DOF). The target application is a robot head for mounting inside a vehicle to provide a driver with companionship, location specific information, and other assistance, via head motions in conjunction with auditory communication. Prior art is reviewed and two designs are presented: One mechanism is located below the sphere and provides an unlimited range of motion (ROM), and the other is contained entirely within the sphere but has a limited range of motion. The latter is stable and easily mounted, provides a clean appearance, and is particularly suited to human interaction applications.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1115/1.4006263
