thumbnail|TROY Robot

This is a home-grown torso-only humanoid robot, designed and built in the Mechanical Engineering department. The arms of the robot resemble real human arms. The head of the robot is a monitor, so the robot is capable of showing animated expressions (emoticons). The head can also be rotated, so we have the choices of a wide, short head and a thin, tall head.

Research Objectives

  • How can a humanoid robot assist in treating children with Autism in clinical settings?
  • Can a machine-look-like humanoid robot (loosely resemble a human) help develop autistic children's capabilities in joint attention?
  • How can a therapist “program” the robot in preparation for clinical sessions using a skill/behavior based interactive learning interface?
  • What interface techniques help the therapists interact with the robot to better treat children with Autism?

Robot Specifications


Existing Sensors:

  • Visual Sensor: The monitor (head) has webcam built-in. Enables computer vision algorithm to identify patterns.
  • Audio Sensor: The monitor (head) has mic built-in. Possibly voice commands.

Possible Sensors:

  • Audio Sensor: We could add two mics (as ears) for audio signals detection from different directions.
  • Range Sensor: We could add an infrared proximity sensor to detect object distances and trigger events when object is close.
  • Position Sensor (wii remotes): Detects locations of the operator's elbows, wrists, etc. The therapist will be holding the wii remotes.
  • Motion Sensor (wii remote): Detects the direction of movement from the operator.


Existing Actuators:

  • Arm movements: Up, down, in, out. 1-DOF elbow and 3-DOF shoulder.
  • Head/neck movements: Turn left/right, lean left/right, raise head up/down. 2-DOF neck.
  • Display: Monitor (head) can display emotions and expressions.

Possible Actuators:

  • Speaker: make sounds or speech


  • Processing is all done on a standalone laptop.


  • Laptop communicates with the robot through a serial cable because USB is too slow.

Robot Skills/Behaviors

Existing skills/behaviors

  • Body movements: Arm, head/neck.

Possible skills/behaviors

  • Cognitive behaviors: Imitate
  • Gestures: Nod, shake heads, wave, YMCA, flux muscles
  • Movements: Point at, reach out
  • Sounds: Make sounds/noises, speak
  • Emotions: Excited (arms up and moving left and right), scared (leaning backward with arms covering face)
  • Cognitive behaviors: find face, learn to identify objects, identify direction of sound source
  • Social behaviors: Keep gaze on person in front, briefly turn to check out visual/sound changes (curiosity)

Desired skills/behaviors

(Please add here…)

ar/dan-s-robot.txt · Last modified: 2015/03/26 15:02 by ryancha
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