Social humanoid robots with GPGPU and IoT

Social humanoid robots with GPGPU and IoT

Paper Authors

Mohsen Jafarzadeh, Stephen Brooks, Shimeng Yu, Balakrishnan Prabhakaran, Yonas Tadesse

Initial design and development

UT Dallas senior design team

Sharon Choi, Manpreet Dhot, Mark Cordova, Luis Hall-Valdez, and Stephen Brooks

A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture

Currently, most social robots interact with their surroundings humans through sensors that are integral parts of the robots, which limits the usability of the sensors, human-robot interaction, and interchangeability. A wearable sensor garment that fits many robots is needed in many applications. This article presents an affordable wearable sensor vest, and an open-source software architecture with the Internet of Things (IoT) for social humanoid robots. The vest consists of touch, temperature, gesture, distance, vision sensors, and a wireless communication module. The IoT feature allows the robot to interact with humans locally and over the Internet. The designed architecture works for any social robot that has a general purpose graphics processing unit (GPGPU), I2C/SPI buses, Internet connection, and the Robotics Operating System (ROS). The modular design of this architecture enables developers to easily add/remove/update complex behaviors. The proposed software architecture provides IoT technology, GPGPU nodes, I2C and SPI bus mangers, audio-visual interaction nodes (speech to text, text to speech, and image understanding), and isolation between behavior nodes and other nodes. The proposed IoT solution consists of related nodes in the robot, a RESTful web service, and user interfaces. We used the HTTP protocol as a means of two-way communication with the social robot over the Internet. Developers can easily edit or add nodes in C, C++, and Python programming languages. Our architecture can be used for designing more sophisticated behaviors for social humanoid robots.

Cite as:

DOI

https://doi.org/10.1016/j.robot.2020.103536

IEEE

M. Jafarzadeh, S. Brooks, S. Yu, B. Prabhakaran, and Y. Tadesse, “A wearable sensor vest for social humanoid robots with GPGPU, IOT, and Modular Software Architecture,” Robotics and Autonomous Systems, vol. 139, p. 103536, 2021.

MLA

Jafarzadeh, Mohsen, et al. "A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture." Robotics and Autonomous Systems 139 (2021): 103536.

APA

Jafarzadeh, M., Brooks, S., Yu, S., Prabhakaran, B., & Tadesse, Y. (2021). A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture. Robotics and Autonomous Systems, 139, 103536.

Chicago

Jafarzadeh, Mohsen, Stephen Brooks, Shimeng Yu, Balakrishnan Prabhakaran, and Yonas Tadesse. "A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture." Robotics and Autonomous Systems 139 (2021): 103536.

Harvard

Jafarzadeh, M., Brooks, S., Yu, S., Prabhakaran, B. and Tadesse, Y., 2021. A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture. Robotics and Autonomous Systems, 139, p.103536.

Vancouver

Jafarzadeh M, Brooks S, Yu S, Prabhakaran B, Tadesse Y. A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture. Robotics and Autonomous Systems. 2021 May 1;139:103536.

Bibtex

@article{Jafarzadeh2021robots,
title = {A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture},
journal = {Robotics and Autonomous Systems},
volume = {139},
pages = {103536},
year = {2021},
issn = {0921-8890},
doi = {https://doi.org/10.1016/j.robot.2020.103536},
url = {https://www.sciencedirect.com/science/article/pii/S0921889019306323},
author = {Mohsen Jafarzadeh and Stephen Brooks and Shimeng Yu and Balakrishnan Prabhakaran and Yonas Tadesse},
}

License

Copyright (c) 2020 Mohsen Jafarzadeh. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software must display the following acknowledgement: This product includes software developed by Mohsen Jafarzadeh, Stephen Brooks, Sharon Choi, Manpreet Dhot, Mark Cordova, Luis Hall-Valdez, and Shimeng Yu.
4. Neither the name of the Mohsen Jafarzadeh nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY MOHSEN JAFARZADEH "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL MOHSEN JAFARZADEH BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.