eprintid: 10084270
rev_number: 17
eprint_status: archive
userid: 608
dir: disk0/10/08/42/70
datestamp: 2019-10-28 12:00:00
lastmod: 2021-09-17 23:05:49
status_changed: 2019-10-28 12:00:00
type: proceedings_section
metadata_visibility: show
creators_name: Vona, M
creators_name: Kanoulas, D
title: RPBP: Rapid-prototyped remote-brain biped with 3D perception
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F48
note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
abstract: This paper provides the design of a novel open-hardware mini-bipedal robot, named Rapid-Prototyped Remote-Brain BiPed (RPBP), that is developed to provide a low-cost and reliable platform for locomotion and perception research. The robot is made of customized 3D-printed material (ABS plastic) and electronics, and commercial Robotics Dynamixel MX-28 actuators, as well as visual RGB-D and IMU sensing systems. We show that the robot is able to perform some locomotion/visual-odometry tasks and it is easy to switch between different feet designs, providing also a novel Center-of-Pressure (CoP) sensing system, so that it can deal with various types of terrain. Moreover, we provide a description of its control and perception system architecture, as well as our opensource software packages that provide sensing and navigation tools for locomotion and visual odometry on the robot. Finally, we briefly discuss the transferability of some prototype research that has been done on the developed mini-biped, to half or fullsize humanoid robots, such as COMAN or WALK-MAN.
date: 2019-07-01
date_type: published
publisher: IEEE
official_url: https://doi.org/10.1109/ICARM.2019.8834176
oa_status: green
full_text_type: other
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 1709968
doi: 10.1109/ICARM.2019.8834176
lyricists_name: Kanoulas, Dimitrios
lyricists_id: DKANO15
actors_name: Kanoulas, Dimitrios
actors_id: DKANO15
actors_role: owner
full_text_status: public
publication: 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
pagerange: 881-887
event_title: 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)
citation:        Vona, M;    Kanoulas, D;      (2019)    RPBP: Rapid-prototyped remote-brain biped with 3D perception.                     In:   (Proceedings) 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). (pp. pp. 881-887).  IEEE       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10084270/1/P27__Vona_Kanoulas__2019__RPBP_Rapid-Prototyped_Remote-Brain_BiPed_with_3D_Perception.pdf