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Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm

Robot-to-human communication is important for mutual understanding during human-robot collaboration. Most of the current collaborative robots (cobots) are designed with low levels of anthropomorphism. Therefore, the ability of cobots to express human-like communication is limited. In this work, we p...

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Autores principales: Scholz, Constantin, Cao, Hoang-Long, El Makrini, Ilias, Vanderborght, Bram
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10584189/
https://www.ncbi.nlm.nih.gov/pubmed/37851613
http://dx.doi.org/10.1371/journal.pone.0292078
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author Scholz, Constantin
Cao, Hoang-Long
El Makrini, Ilias
Vanderborght, Bram
author_facet Scholz, Constantin
Cao, Hoang-Long
El Makrini, Ilias
Vanderborght, Bram
author_sort Scholz, Constantin
collection PubMed
description Robot-to-human communication is important for mutual understanding during human-robot collaboration. Most of the current collaborative robots (cobots) are designed with low levels of anthropomorphism. Therefore, the ability of cobots to express human-like communication is limited. In this work, we present an open-source platform named Antropo to increase the level of anthropomorphism of Franka Emika—a widely used collaborative robot arm. The Antropo platform includes three modules: a camera module for expressing eye gaze, a light module for visual feedback, and a sound module for acoustic feedback. These modules can be rapidly prototyped through 3D printers, laser-cutters, and off-the-shelf components available at a low cost. The Antropo platform can be easily installed on the Franka Emika robot. The added communication channels can be synchronised with the robot’s motions to enhance mutual understanding. All hardware CAD design files and software files are released. The platform can be used to study human-like behaviours of cobots and the effects of these behaviours on different aspects of human-robot collaboration. We demonstrate the Antropo platform in an assembly task in which the Franka Emika robot expresses various human-like communicative behaviours via the added communication channels. We also present two industrial applications in which the Antropo platform was customised for the Universal Robots UR16e.
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spelling pubmed-105841892023-10-19 Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm Scholz, Constantin Cao, Hoang-Long El Makrini, Ilias Vanderborght, Bram PLoS One Research Article Robot-to-human communication is important for mutual understanding during human-robot collaboration. Most of the current collaborative robots (cobots) are designed with low levels of anthropomorphism. Therefore, the ability of cobots to express human-like communication is limited. In this work, we present an open-source platform named Antropo to increase the level of anthropomorphism of Franka Emika—a widely used collaborative robot arm. The Antropo platform includes three modules: a camera module for expressing eye gaze, a light module for visual feedback, and a sound module for acoustic feedback. These modules can be rapidly prototyped through 3D printers, laser-cutters, and off-the-shelf components available at a low cost. The Antropo platform can be easily installed on the Franka Emika robot. The added communication channels can be synchronised with the robot’s motions to enhance mutual understanding. All hardware CAD design files and software files are released. The platform can be used to study human-like behaviours of cobots and the effects of these behaviours on different aspects of human-robot collaboration. We demonstrate the Antropo platform in an assembly task in which the Franka Emika robot expresses various human-like communicative behaviours via the added communication channels. We also present two industrial applications in which the Antropo platform was customised for the Universal Robots UR16e. Public Library of Science 2023-10-18 /pmc/articles/PMC10584189/ /pubmed/37851613 http://dx.doi.org/10.1371/journal.pone.0292078 Text en © 2023 Scholz et al https://creativecommons.org/licenses/by/4.0/This is an open access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/) , which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
spellingShingle Research Article
Scholz, Constantin
Cao, Hoang-Long
El Makrini, Ilias
Vanderborght, Bram
Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm
title Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm
title_full Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm
title_fullStr Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm
title_full_unstemmed Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm
title_short Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm
title_sort antropo: an open-source platform to increase the anthropomorphism of the franka emika collaborative robot arm
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10584189/
https://www.ncbi.nlm.nih.gov/pubmed/37851613
http://dx.doi.org/10.1371/journal.pone.0292078
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