Design and Control of a Social Humanoid Robot - SemuBot’s Hand

dc.contributor.advisorAabloo, Alvo, juhendaja
dc.contributor.advisorZinatullin, Leonid, juhendaja
dc.contributor.authorHuseynov, Elchin
dc.contributor.otherTartu Ülikool. Loodus- ja täppisteaduste valdkond
dc.contributor.otherTartu Ülikool. Tehnoloogiainstituut
dc.date.accessioned2024-06-17T11:09:40Z
dc.date.available2024-06-17T11:09:40Z
dc.date.issued2024
dc.description.abstractChildren can find socialising difficult due to communication problems and a lack of comprehension of social cues[1], which can lead to isolation, marginalisation, and difficulties building social bonds. Social robots are an effective solution to this problem[2]. But, social robots need to be embodied as a humanoid for children to create a will to socialise with the robot. There are several versions of social humanoid robots. However, most are prohibitively expensive and difficult to repair because they’re closed-source. SemuBot is one of the projects that aims to solve these issues and help tackle children's socialisation issues. Semubot is a student-led, nonprofit organisation. This work pertains to the arm and the forearm parts for the SemuBot. Natural interactions between machines and humans require the robot to display body language, requiring robotic hands. However, the hand designs that are currently available either have expensive and/or noisy actuation systems. Some also have insufficient degrees of freedom, limiting the number of gestures they can make. In this work, we present an open-source, modular hand with 7 actuated degrees of freedom. The design incorporates a bio-inspired tendon-driven actuation mechanism, which uses cost-effective materials and off-the-shelf components to achieve common hand gestures.
dc.identifier.urihttps://hdl.handle.net/10062/99668
dc.language.isoen
dc.publisherTartu Ülikool
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Estoniaen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/ee/
dc.subjectHuman-robot interaction
dc.subjectSocial humanoid robot
dc.subjectRobotic hand design
dc.subjectOpen-source robotics
dc.subjectHand gestures
dc.subject.otherbakalaureusetöödet
dc.titleDesign and Control of a Social Humanoid Robot - SemuBot’s Hand
dc.title.alternativeSotsiaalse Humanoidroboti Disain ja Juhtimine - SemuBoti Käsi
dc.typeThesis

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