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  - JOUR
AU  - Vukobratović, Miomir
AU  - Potkonjak, Veljko
AU  - Matijević, Vladimir
PY  - 2000
UR  - https://dais.sanu.ac.rs/123456789/3862
AB  - The research follows the concept of variable geometry. The concept was originally introduced for general mechanical system in order to improve its dynamic behaviour. Here, we apply the concept to robots. It can be shown that enhancement of robot dynamic performances is achieved. In this paper variation of geometry is considered equally as the motion in robot joints. Thus, a new set of degrees of freedom is introduced. This leads to redundancy - different internal motions are possible for the given external motion of the end-effector. However, there is an important difference from the usual notion of redundancy. Here, the additional joints do not influence the external motion and accordingly cannot improve the end-effector ability for maneuvering. For this reason the new notion is defined the internal redundancy. Although variation of geometry is treated equally with the motion in robot joints, there is still a difference in the aim of these new degrees of freedom. They should contribute to overcoming the limits of robot actuators, achieving better static compensation, etc. One might say that internal redundancy improves the robot dynamic capabilities. In this paper the mathematical formulation of kinematics and dynamics of robots with internal redundancy is carried out. A case study is presented in order to support the main idea.
PB  - Dordrecht : Kluwer Academic Publishers
T2  - Journal of Intelligent and Robotic Systems: Theory and Applications
T1  - Internal redundancy - the way to improve robot dynamics and control performances
SP  - 31
EP  - 66
VL  - 27
IS  - 1-2
DO  - 10.1023/A:1008141912804
UR  - https://hdl.handle.net/21.15107/rcub_dais_3862
ER  - 

@article{
author = "Vukobratović, Miomir and Potkonjak, Veljko and Matijević, Vladimir",
year = "2000",
abstract = "The research follows the concept of variable geometry. The concept was originally introduced for general mechanical system in order to improve its dynamic behaviour. Here, we apply the concept to robots. It can be shown that enhancement of robot dynamic performances is achieved. In this paper variation of geometry is considered equally as the motion in robot joints. Thus, a new set of degrees of freedom is introduced. This leads to redundancy - different internal motions are possible for the given external motion of the end-effector. However, there is an important difference from the usual notion of redundancy. Here, the additional joints do not influence the external motion and accordingly cannot improve the end-effector ability for maneuvering. For this reason the new notion is defined the internal redundancy. Although variation of geometry is treated equally with the motion in robot joints, there is still a difference in the aim of these new degrees of freedom. They should contribute to overcoming the limits of robot actuators, achieving better static compensation, etc. One might say that internal redundancy improves the robot dynamic capabilities. In this paper the mathematical formulation of kinematics and dynamics of robots with internal redundancy is carried out. A case study is presented in order to support the main idea.",
publisher = "Dordrecht : Kluwer Academic Publishers",
journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
title = "Internal redundancy - the way to improve robot dynamics and control performances",
pages = "31-66",
volume = "27",
number = "1-2",
doi = "10.1023/A:1008141912804",
url = "https://hdl.handle.net/21.15107/rcub_dais_3862"
}

Vukobratović, M., Potkonjak, V.,& Matijević, V.. (2000). Internal redundancy - the way to improve robot dynamics and control performances. in Journal of Intelligent and Robotic Systems: Theory and Applications
Dordrecht : Kluwer Academic Publishers., 27(1-2), 31-66.
https://doi.org/10.1023/A:1008141912804
https://hdl.handle.net/21.15107/rcub_dais_3862

Vukobratović M, Potkonjak V, Matijević V. Internal redundancy - the way to improve robot dynamics and control performances. in Journal of Intelligent and Robotic Systems: Theory and Applications. 2000;27(1-2):31-66.
doi:10.1023/A:1008141912804
https://hdl.handle.net/21.15107/rcub_dais_3862 .

Vukobratović, Miomir, Potkonjak, Veljko, Matijević, Vladimir, "Internal redundancy - the way to improve robot dynamics and control performances" in Journal of Intelligent and Robotic Systems: Theory and Applications, 27, no. 1-2 (2000):31-66,
https://doi.org/10.1023/A:1008141912804 .,
https://hdl.handle.net/21.15107/rcub_dais_3862 .