e-journal

On the Problem of the Automated Design of Large-Scale Robot Skin

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This paper describes automated procedures for the design and deployment of artificial skin for humanoid robots. This problem is challenging under different perspectives: on the one hand, different robots are characterized by different shapes, thereby requiring a high degree of skin customization; on the other
hand, it is necessary to define optimal criteria specifying how the skin must be placed on robot parts. This paper addresses the problem of optimally covering robot parts with tactile sensors, discussing possible solutions with reference to a specific artificial skin technology for robots, which has been developed in the past few years. Results show that it is possible to automate the majority of the required steps, with promising results in view of a future complete automation of the process.
Note to Practitioners—The research activities described in this paper have been carried out to tackle a novel problem in Robotics. Since different robots have different shapes (in terms of covers) and since—even narrowing the analysis to a single robot—different body parts of the same robot have different shapes, how can we automate the procedure of designing and deploying sensitive skin for robots? Sensitive skin for robots is a fundamental means for achieving a high degree of physical human-robot interaction
in real-world scenarios. The design of sensitive skin for robots is difficult: modular, scalable and dependable solutions (both at the hardware and software levels) are needed, which are in contrast
with the need of deploying the actual sensitive skin on a variety of surfaces. In this paper, we formally characterize the robot skin design process as a geometric placement problem, in an effort to obtain a tradeoff between skin modularity and skin customization for specific robot surfaces.
Index Terms—Automated design, heuristics, robot skin.

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Informasi Detail

Judul Seri

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING

No. Panggil

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Penerbit

: ., 2013

Deskripsi Fisik

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 10, NO. 4, OCTOBER 2013

Bahasa

English

ISBN/ISSN

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Klasifikasi

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Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

VOL. 10, NO. 4

Subjek

TEKNIK

Info Detail Spesifik

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Pernyataan Tanggungjawab

Yuli/Agus

Versi lain/terkait

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