A Development of Home Service Robot using Omni-Wheeled Mobility and Task-Based Manipulation
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32771
A Development of Home Service Robot using Omni-Wheeled Mobility and Task-Based Manipulation

Authors: Hijun Kim, Jungkeun Sung, Seungwoo Kim

Abstract:

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 3 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

Keywords: Holonomic Omni-wheeled Mobile Robot, Special-purpose, Manipulation, Home Service Robot

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1329533

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2340

References:


[1] Bischoff R. HERMES - A Humanoid Mobile manipulator for service Tasks. In: Proceedings of the FSR-97 Conference on Field and Service Robots, 1997; pp 508-515..
[2] Connette CP, Pott A, Hägele M, Verl A. Control of an Pseudo-Omnidirectional, Non-Holonomic, Mobile Robot based on an ICM Representation in Spherical Coordinates. In: Proceedings of the 47th IEEE conference on Decision and Control, 2008; pp 4976-4983.
[3] Campion G, Bastin G. Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots. IEEE Transactions on Robotics and Automation, 1996; 12(1): pp 47-62.
[4] K. Harada et al., "Dynamics and Balance of a Humanoid Robot during Manipulation Tasks," IEEE Trans. on Robotics, vol. 22, No. 2, 2006, pp. 568-575
[5] Matsunaga N, Kawaji S. Hybrid controller with fuzzy and PD control. In: Proceedings of IEEE International Workshop Advanced Motion Control, Kumamoto, 1990; pp 99-106