Human Machine Interface for Dexto Eka: - The humanoid robot

Author

Kumra, Sulabh ; Mohan, Mayumi ; Gupta, Sumit ; Vaswani, Himanshu

Author_Institution

Dept. of Electr. & Microelectron. Eng., Rochester Inst. of Technol., New York, NY, USA

fYear

2015

fDate

18-20 Feb. 2015

Firstpage

1

Lastpage

6

Abstract

This paper illustrates hybrid control system of the humanoid robot, Dexto:Eka: focusing on the dependent or slave mode. Efficiency of any system depends on the fluid operation of its control system. Here, we elucidate the control of 12 DoF robotic arms and an omnidirectional mecanum wheel drive using an exo-frame, and a Graphical User Interface (GUI) and a control column. This paper comprises of algorithms, control mechanisms and overall flow of execution for the regulation of robotic arms, graphical user interface and locomotion.

Keywords

control engineering computing; graphical user interfaces; human-robot interaction; humanoid robots; manipulators; wheels; 12 DoF robotic arm; Dexto Eka; GUI; control column; graphical user interface; human machine interface; humanoid robot; hybrid control system; omnidirectional mecanum wheel drive; slave mode; Graphical user interfaces; Manipulators; Microcontrollers; Robot sensing systems; Temperature sensors; control column; exoskeleton; graphical user interface; omni direction; robotic arm;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation, Control and Embedded Systems (RACE), 2015 International Conference on

Conference_Location

Chennai

Type

conf

DOI

10.1109/RACE.2015.7097236

Filename

7097236