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Design and Construction of an Anthropomorphic Robotic Head with Gestural Projection

Abstract:

The following document presents the design and construction of an anthropomorphic robotic head with gestural projection named Kyle. Kyle’s main elements are structure, human-machine interaction systems, and gestural projection. The structure is composed of the carcass and the neck mechanism. Reverse kinematics is presented through the neck mechanism as it is responsible for head mobility to achieve better control. It is fully programmed in Python language and making use of the Robotic Operative System, the nodes and topics generated and implemented in the robot can be observed in order to allow different interactions with the user such as natural language, and tracking through artificial vision. The most important part is the use of projection technology in order to present of gestures and feelings. Kyle was tested in various aspects such as mechanical, through movement tests and usability. It was assessed using a survey carried out on users that allowed to verify that it is a robot of acceptable anthropomorphism and has an adequate level of interaction towards different users.