Session: 16-01-01: Government Agency Student Poster Competition

Paper Number: 151001

151001 - Your Robot Is a Caveman: Using Robots for Archaeological 

 

Poster Abstract  

Firm: Barrett Technology, Inc.  

Grant Title: Acquisition of a Lightweight 7-Axis Robotic Manipulator with Force Sensing for Archaeological and Engineering Research and Education 

Grant Number: 2216138  

Project Title: Your Robot is a Caveman: Using Robots for Archaeological   

Project Period: 05/20/2024 through 08/09/2024  

  

Purpose of the Research 

The purpose of this research is to utilize advanced robotic technology to replicate ancient tools like stone, bone and lithic use, generating and evaluating use-wear patterns on experimental stone tools to gain insight into how tools were used by prehistoric persons. This interdisciplinary effort aims to enhance our understanding of ancient human life. 

  

Description of Work Performed  

This project aimed to write code for the robotic arm and build a haft that could hold a stone tool to conduct the scraping motion continuously, shortening the time required for scientists to undertake archaeological experiences and providing precise, consistent results. We successfully developed a method to use a 7-axis robotic arm to perform movements that provides greater flexibility and a wider range of motion, allowing the robot to achieve more precise and varied poses. We programmed the robotic arm using C++ and the Libbarrett library to replicate ancient tasks like scraping and cutting with stone tools, using precise angles and controlled pressures determined by studying historical records, observing skilled craftspeople, and analyzing wear patterns on ancient artifacts. We developed a specialized haft for the robot to hold stone tools, this design was created using a modeling program called SolidWorks. Due to the irregular shapes of the rocks, we concluded that the best option for securely holding a variety of rocks was to use bolts coming from the top of the haft. The robotic arm also allows for the calculation of the force via its sensor, and the measurement of torque. Using the robot to scrape hides (animal skin), enabled us to generate wear patterns on the surfaces of stone tools consistent with hide scraping activities. These types of archaeological experiments traditionally require extended, monotonous operations for scientists.  

  

Research Results  

Results of the prototype system are promising. Testing of the system to control the 7-axis industrial arm and prototype showed great potential. The robot demonstrated the capability to learn and execute various motions, such as scraping, multiple times. We gathered force-torque data at 200 Hz and plotted it to verify the sensor's accuracy.  

Potential system improvements include enhancing the control code, achieving smoother movements, and precisely controlling the force and velocity during scraping to prevent damaging the leather. In summary, the device is a complex system with advanced features and could be used as a universal platform for efficient controlling of robotic arms performing complex and time-consuming tasks that require high levels of attention, precision and repeatability making it particularly suitable for archaeological experiments.  

 

Presenting Author: Asma Mohseni The University of Tulsa

Presenting Author Biography: I am Asma Mohseni an international undergraduate student studying Computer Science at the University of Tulsa. I am passionate about technology and aim to contribute to advancements in the field.

Authors:

Asma Mohseni The University of Tulsa
Baqer Hassani The University of Tulsa
Juan Reinoso Carbonell The University of Tulsa