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NICOL : a Neuro-Inspired Collaborative semi-humanoid robot that bridges social interaction and reliable manipulation
Citation Link: https://doi.org/10.15480/882.8889
Publikationstyp
Journal Article
Date Issued
2023-11-01
Sprache
English
Author(s)
Frick, Nicolas
Habekost, Jan-Gerrit
TORE-DOI
Journal
Volume
11
Start Page
123531
End Page
123542
Citation
IEEE Access 11: 123531-123542 (2023)
Publisher DOI
Scopus ID
Publisher
IEEE
Robotic platforms that can efficiently collaborate with humans in physical tasks constitute a major goal in robotics. However, many existing robotic platforms are either designed for social interaction or industrial object manipulation tasks. The design of collaborative robots seldom emphasizes both their social interaction and physical collaboration abilities. To bridge this gap, we present the novel semi-humanoid NICOL, the Neuro-Inspired COLlaborator. NICOL is a large, newly designed, scaled-up version of its well-evaluated predecessor, the Neuro-Inspired COmpanion (NICO). NICOL adopts NICO's head and facial expression display and extends its manipulation abilities in terms of precision, object size, and workspace size. Our contribution in this paper is twofold - firstly, we introduce the design concept for NICOL, and secondly, we provide an evaluation of NICOL's manipulation abilities by presenting a novel extension for an end-to-end hybrid neuro-genetic visuomotor learning approach adapted to NICOL's more complex kinematics. We show that the approach outperforms the state-of-the-art Inverse Kinematics (IK) solvers KDL, TRACK-IK and BIO-IK. Overall, this article presents for the first time the humanoid robot NICOL, and contributes to the integration of social robotics and neural visuomotor learning for humanoid robots.
Subjects
Humanoid robotics
neuro-genetic visuomotor learning
neuro-robotics
MLE@TUHH
DDC Class
620: Engineering
610: Medicine, Health
Publication version
publishedVersion
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NICOL_A_Neuro-Inspired_Collaborative_Semi-Humanoid_Robot_That_Bridges_Social_Interaction_and_Reliable_Manipulation.pdf
Type
Main Article
Size
1.79 MB
Format
Adobe PDF