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NICOL : a Neuro-Inspired Collaborative semi-humanoid robot that bridges social interaction and reliable manipulation

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Bibliographic Details
Title: NICOL : a Neuro-Inspired Collaborative semi-humanoid robot that bridges social interaction and reliable manipulation
Authors: Kerzel, Matthias, Allgeuer, Philipp, Strahl, Erik, Eppe, Manfred, Wermter, Stefan
Source: IEEE access. 11:123531-123542
Publisher Information: 2023.
Publication Year: 2023
Subject Terms: Humanoid robotics, MLE@TUHH, neuro-robotics, neuro-genetic visuomotor learning
Description: 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.
Document Type: Article
Language: English
ISSN: 2169-3536
DOI: 10.15480/882.8889
Rights: CC BY NC ND
Accession Number: edsair.dris...01170..945e7ee45e8973465f4e67f51e659c79
Database: OpenAIRE
Description
Abstract: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.
ISSN:21693536
DOI:10.15480/882.8889