TY  - CONF
AU  - Karan, Branko
AU  - Rodić, Aleksandar
AU  - Vujović, Milica
AU  - Stevanović, Ilija
AU  - Jovanović, Miloš
PY  - 2016
UR  - https://dais.sanu.ac.rs/123456789/809
AB  - This paper deals with development of a personal robot functioning as a part of a smart home. The overall system is based on the cloud computing model to leverage processing, data sensing and communication power of the robot. At the semantic level, it provides capabilities for improved perceiving and expressing the emotions based on analysis of collected and exchanged history data on emotional states and actions.
PB  - Tel Aviv : The Israeli Robotics Association
C3  - ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel
T1  - Implementation architecture of a home robot assistant
UR  - https://hdl.handle.net/21.15107/rcub_dais_809
ER  - 

@conference{
author = "Karan, Branko and Rodić, Aleksandar and Vujović, Milica and Stevanović, Ilija and Jovanović, Miloš",
year = "2016",
abstract = "This paper deals with development of a personal robot functioning as a part of a smart home. The overall system is based on the cloud computing model to leverage processing, data sensing and communication power of the robot. At the semantic level, it provides capabilities for improved perceiving and expressing the emotions based on analysis of collected and exchanged history data on emotional states and actions.",
publisher = "Tel Aviv : The Israeli Robotics Association",
journal = "ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel",
title = "Implementation architecture of a home robot assistant",
url = "https://hdl.handle.net/21.15107/rcub_dais_809"
}

Karan, B., Rodić, A., Vujović, M., Stevanović, I.,& Jovanović, M.. (2016). Implementation architecture of a home robot assistant. in ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel
Tel Aviv : The Israeli Robotics Association..
https://hdl.handle.net/21.15107/rcub_dais_809

Karan B, Rodić A, Vujović M, Stevanović I, Jovanović M. Implementation architecture of a home robot assistant. in ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel. 2016;.
https://hdl.handle.net/21.15107/rcub_dais_809 .

Karan, Branko, Rodić, Aleksandar, Vujović, Milica, Stevanović, Ilija, Jovanović, Miloš, "Implementation architecture of a home robot assistant" in ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel (2016),
https://hdl.handle.net/21.15107/rcub_dais_809 .

TY  - JOUR
AU  - Rodić, Aleksandar
AU  - Jovanović, Miloš
AU  - Stevanović, Ilija
AU  - Karan, Branko
AU  - Potkonjak, Veljko
PY  - 2015
UR  - https://dais.sanu.ac.rs/123456789/808
AB  - The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented) torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope), stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions, etc.
PB  - Elsevier
T2  - Digital Communications and Networks
T1  - Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment
SP  - 112
EP  - 124
VL  - 1
DO  - 10.1016/j.dcan.2015.03.002
UR  - https://hdl.handle.net/21.15107/rcub_dais_808
ER  - 

@article{
author = "Rodić, Aleksandar and Jovanović, Miloš and Stevanović, Ilija and Karan, Branko and Potkonjak, Veljko",
year = "2015",
abstract = "The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented) torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope), stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions, etc.",
publisher = "Elsevier",
journal = "Digital Communications and Networks",
title = "Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment",
pages = "112-124",
volume = "1",
doi = "10.1016/j.dcan.2015.03.002",
url = "https://hdl.handle.net/21.15107/rcub_dais_808"
}

Rodić, A., Jovanović, M., Stevanović, I., Karan, B.,& Potkonjak, V.. (2015). Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment. in Digital Communications and Networks
Elsevier., 1, 112-124.
https://doi.org/10.1016/j.dcan.2015.03.002
https://hdl.handle.net/21.15107/rcub_dais_808

Rodić A, Jovanović M, Stevanović I, Karan B, Potkonjak V. Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment. in Digital Communications and Networks. 2015;1:112-124.
doi:10.1016/j.dcan.2015.03.002
https://hdl.handle.net/21.15107/rcub_dais_808 .

Rodić, Aleksandar, Jovanović, Miloš, Stevanović, Ilija, Karan, Branko, Potkonjak, Veljko, "Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment" in Digital Communications and Networks, 1 (2015):112-124,
https://doi.org/10.1016/j.dcan.2015.03.002 .,
https://hdl.handle.net/21.15107/rcub_dais_808 .

TY  - CONF
AU  - Karan, Branko
AU  - Potkonjak, Veljko
AU  - Rodić, Aleksandar
AU  - Katić, Duško
AU  - Jovanović, Miloš
AU  - Borovac, Branislav
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/599
AB  - This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015.
PB  - Belgrade : Institute for Research and Design in Commerce and Industry
C3  - Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)
T1  - Development of a prototype of an ambient-aware two-arm mobile service robot
SP  - 7
EP  - 12
UR  - https://hdl.handle.net/21.15107/rcub_dais_599
ER  - 

@conference{
author = "Karan, Branko and Potkonjak, Veljko and Rodić, Aleksandar and Katić, Duško and Jovanović, Miloš and Borovac, Branislav",
year = "2014",
abstract = "This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015.",
publisher = "Belgrade : Institute for Research and Design in Commerce and Industry",
journal = "Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)",
title = "Development of a prototype of an ambient-aware two-arm mobile service robot",
pages = "7-12",
url = "https://hdl.handle.net/21.15107/rcub_dais_599"
}

Karan, B., Potkonjak, V., Rodić, A., Katić, D., Jovanović, M.,& Borovac, B.. (2014). Development of a prototype of an ambient-aware two-arm mobile service robot. in Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)
Belgrade : Institute for Research and Design in Commerce and Industry., 7-12.
https://hdl.handle.net/21.15107/rcub_dais_599

Karan B, Potkonjak V, Rodić A, Katić D, Jovanović M, Borovac B. Development of a prototype of an ambient-aware two-arm mobile service robot. in Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry). 2014;:7-12.
https://hdl.handle.net/21.15107/rcub_dais_599 .

Karan, Branko, Potkonjak, Veljko, Rodić, Aleksandar, Katić, Duško, Jovanović, Miloš, Borovac, Branislav, "Development of a prototype of an ambient-aware two-arm mobile service robot" in Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry) (2014):7-12,
https://hdl.handle.net/21.15107/rcub_dais_599 .

TY  - CHAP
AU  - Rodić, Aleksandar
AU  - Miloradović, Branko
AU  - Popić, Svemir
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/721
AB  - The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.
PB  - Springer International Publishing
T2  - New Trends in Medical and Service Robots: Theory and Integrated Applications
T1  - Development of Modular Compliant Anthropomorphic Robot Hand
SP  - 205
EP  - 219
DO  - 10.1007/978-3-319-01592-7_15
UR  - https://hdl.handle.net/21.15107/rcub_dais_721
ER  - 

@inbook{
author = "Rodić, Aleksandar and Miloradović, Branko and Popić, Svemir and Spasojević, Sofija and Karan, Branko",
year = "2014",
abstract = "The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.",
publisher = "Springer International Publishing",
journal = "New Trends in Medical and Service Robots: Theory and Integrated Applications",
booktitle = "Development of Modular Compliant Anthropomorphic Robot Hand",
pages = "205-219",
doi = "10.1007/978-3-319-01592-7_15",
url = "https://hdl.handle.net/21.15107/rcub_dais_721"
}

Rodić, A., Miloradović, B., Popić, S., Spasojević, S.,& Karan, B.. (2014). Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications
Springer International Publishing., 205-219.
https://doi.org/10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721

Rodić A, Miloradović B, Popić S, Spasojević S, Karan B. Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications. 2014;:205-219.
doi:10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721 .

Rodić, Aleksandar, Miloradović, Branko, Popić, Svemir, Spasojević, Sofija, Karan, Branko, "Development of Modular Compliant Anthropomorphic Robot Hand" in New Trends in Medical and Service Robots: Theory and Integrated Applications (2014):205-219,
https://doi.org/10.1007/978-3-319-01592-7_15 .,
https://hdl.handle.net/21.15107/rcub_dais_721 .