Quantifying anthropomorphism of robot arms

Christoforos I. Mavrogiannis; Minas V. Liarokapis; Kostas J. Kyriakopoulos

doi:10.1109/IROS.2015.7353954

Quantifying anthropomorphism of robot arms

Christoforos I. Mavrogiannis, Minas V. Liarokapis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper we introduce an index for the quantification of anthropomorphism of robot arms. The index is defined as a weighted sum of specific metrics which evaluate the similarities between the human and robot arm workspaces, providing a normalized score between 0 (non-anthropomorphic artifacts) and 1 (human-identical artifacts). The human arm workspaces were extracted using data reported in anthropometry studies. The formulation is general enough to allow utilization in various applications, by adjusting the weighting factors according to the specifications of each study. The proposed methodology can be used for assessing the human-likeness of existing robot arms as well as to provide specifications for the design of new anthropomorphic robots and prosthetic devices. To assess the efficiency of the proposed methods a comparative analysis between five kinematically different robot arm models is conducted and simulated paradigms are presented.

Original language	English (US)
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4084-4089
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353954
State	Published - Dec 11 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sep 28 2015 → Oct 2 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	9/28/15 → 10/2/15

Keywords

Anthropomorphism
Human Robot Interaction
Robot Arms Design

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2015.7353954

Cite this

Mavrogiannis, C. I., Liarokapis, M. V., & Kyriakopoulos, K. J. (2015). Quantifying anthropomorphism of robot arms. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4084-4089). Article 7353954 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353954

Quantifying anthropomorphism of robot arms. / Mavrogiannis, Christoforos I.; Liarokapis, Minas V.; Kyriakopoulos, Kostas J.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4084-4089 7353954 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Mavrogiannis, CI, Liarokapis, MV & Kyriakopoulos, KJ 2015, Quantifying anthropomorphism of robot arms. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7353954, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 4084-4089, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7353954

Mavrogiannis CI, Liarokapis MV, Kyriakopoulos KJ. Quantifying anthropomorphism of robot arms. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 4084-4089. 7353954. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7353954

Mavrogiannis, Christoforos I. ; Liarokapis, Minas V. ; Kyriakopoulos, Kostas J. / Quantifying anthropomorphism of robot arms. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 4084-4089 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "In this paper we introduce an index for the quantification of anthropomorphism of robot arms. The index is defined as a weighted sum of specific metrics which evaluate the similarities between the human and robot arm workspaces, providing a normalized score between 0 (non-anthropomorphic artifacts) and 1 (human-identical artifacts). The human arm workspaces were extracted using data reported in anthropometry studies. The formulation is general enough to allow utilization in various applications, by adjusting the weighting factors according to the specifications of each study. The proposed methodology can be used for assessing the human-likeness of existing robot arms as well as to provide specifications for the design of new anthropomorphic robots and prosthetic devices. To assess the efficiency of the proposed methods a comparative analysis between five kinematically different robot arm models is conducted and simulated paradigms are presented.",

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Quantifying anthropomorphism of robot arms

Abstract

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Keywords

ASJC Scopus subject areas

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