250px, thumbnail, SEROPI (Service Robot Platform Initiative)SEROPI (Service Robot Platform Initiative) is a wheel based

humanoid robot A humanoid robot is a robot resembling the human body in shape. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of bipedal locomotion, or for other pu ...

developed by

KITECH Korea Institute of Industrial Technology (KITECH) is a South Korean government research institute, established in 1989 to help develop technologies for the domestic industry, with focus on export competitiveness and SMEs. South Korea's then Minis ...

(

Korea Institute of Industrial Technology Korea Institute of Industrial Technology (KITECH) is a South Korean government research institute, established in 1989 to help develop technologies for the domestic industry, with focus on export competitiveness and SMEs. South Korea's then Mini ...

). Since SEROPI has a human-like shape, it can effectively work within a human-friendly working space for visitor guidance, errand, and guard. SEROPI consists of three DOFs (

Degree Of Freedom Degrees of freedom (often abbreviated df or DOF) refers to the number of independent variables or parameters of a thermodynamic system. In various scientific fields, the word "freedom" is used to describe the limits to which physical movement or ...

) of the neck, three DOFs of the waist, six DOFs of the two arms, and one DOF of the knee. Because of these

joint A joint or articulation (or articular surface) is the connection made between bones, ossicles, or other hard structures in the body which link an animal's skeletal system into a functional whole.Saladin, Ken. Anatomy & Physiology. 7th ed. McGraw- ...

structures, SEROPI can flexibly grip an object on a table or floor with the three fingers and transfer the object to some place. It is also self-balancing and move as a quick human walking. In the future, SEROPI could be used as a service robot platform equipped with touch sensors such that SEROPI can more safely perform the services like guidance, errand, and guard in a human-interactive environment such as a place of business or an exhibition hall.
orobot site(korean)

Specifications

*Dimension: 450x1250x450 mm (WHD). *Weight: 55 kg. *DOF: Hand 2DOF, Arm 6×2DOF, Waist 3DOF, Knee 1DOF, Neck 3DOF. *Moving Velocity: Maximum 2 m/s. *Working Area: from ground to eyesight. *Hand Payload: 1 kg. *Equipped Sensors: Thermographic camera, IR sensors, Scanning laser range finder, Force sensor, Force/Torque sensor,

stereo vision Stereopsis () is the component of depth perception retrieved through binocular vision. Stereopsis is not the only contributor to depth perception, but it is a major one. Binocular vision happens because each eye receives a different image becaus ...

, INS.

Functions and features

*Prevention of collision with

humans Humans (''Homo sapiens'') are the most abundant and widespread species of primate, characterized by bipedalism and exceptional cognitive skills due to a large and complex brain. This has enabled the development of advanced tools, culture, ...

or objects by using 3-dimensional space perception sensors. *Large working (including the ground) area by using diverse and multiple joints like waist and knee. *Balance control by using the whole-body coordination and the four load-cell sensors at the bottom of the mobility. *Fast movement using four-wheel mobility instead of biped walking. *Diverse human-robot interactions by using voice,

object recognition Object recognition – technology in the field of computer vision for finding and identifying objects in an image or video sequence. Humans recognize a multitude of objects in images with little effort, despite the fact that the image of the ...

, face recognition, conversation, handshaking, etc.

Software architecture

Three-layered software architecture, which can provide flexibility, maintainability, reusability and scalability is used when an effective robot software design is needed. The HAL (Hardware Abstract Layer) provides a relatively uniform abstraction for aggregates of underlying hardware such that the underlying robotic hardware is transparent to the robot control software. This robot control software can be written in a hardware independent manner.

References

Humanoid robots Rolling robots Robots of South Korea 2000s robots {{robo-stub