Therefore, they are designed to help people to perform tasks that are dangerous or repetitive.
In this research field, we designed two service robots, ALTER-EGO and LHF-Connect, that can work in a full autonomous way or that can be remotely operated by humans as robot avatars.
ALTER-EGO is a two-wheeled humanoid robot born in 2017 from the joint efforts of the SoftBots Lab of the Italian Institute of Technology and the Research Center “E. Piaggio” of the University of Pisa.
To perform safe physical human-robot interactions and to operate in different working scenarios, ALTER-EGO arms are designed with Variable Stiffness Actuators (VSA) that reproduce the elasticity and natural adaptability of our muscles. Moreover, each arm mounts an anthropomorphic synergistic artificial hand inspired by the synergistic movements of our hands (the Pisa/IIT SoftHand) that allows the robot to easily grasp a great variety of objects.
To make the robot able to work autonomously, the system is equipped with tilt sensors, accelerometers, gyroscopes, proximity sensors and a double stereoscopic vision system that allows it to see well both indoors and outdoors. It presents also microphones and speakers to verbally interact with people.
Moreover, a pilot station composed of lightweight and wearable interfaces makes it possible to use ALTER-EGO as an avatar in which to dive to remote operation.
For more information
- G. Lentini, A. Settimi, D. Caporale, M. Garabini, G. Grioli, L. Pallottino, M.G. Catalano and A. Bicchi, “Alter-ego: a mobile robot with a functionally anthropomorphic upper body designed for physical interaction”, IEEE Robotics & Automation Magazine. 2019.
- G. Zambella, G. Lentini G, M. Garabini, G. Grioli, M.G.Catalano, A. Palleschi, L. Pallottino, A. Bicchi, A. Settimi, D. Caporale, “Dynamic whole-body control of unstable wheeled humanoid robots”, IEEE Robotics and Automation Letters, 2019.
- G. Zambella, S. Monteleone, E.P. Alarcón, F. Negrello, G. Lentini, D. Caporale, G. Grioli, M. Garabini, M.G. Catalano and A. Bicchi, “An Integrated Dynamic Fall Protection and Recovery System for Two-Wheeled Humanoids”, IEEE Robotics and Automation Letters, 2020.