Design of a Spherically Actuated Human Interaction Robot Head

Author(s)
Mitamura, Takeshi; Hanumara, Nevan Clancy; Slocum, Alexander H
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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.
Date issued
2012-04
URI
http://hdl.handle.net/1721.1/120064
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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
ISSN
1050-0472
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