@article{(Open Science Index):https://publications.waset.org/pdf/1030,
	  title     = {A Development of Home Service Robot using Omni-Wheeled Mobility and Task-Based Manipulation},
	  author    = {Hijun Kim and  Jungkeun Sung and  Seungwoo Kim},
	  country	= {},
	  institution	= {},
	  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.},
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {6},
	  number    = {2},
	  year      = {2012},
	  pages     = {428 - 431},
	  ee        = {https://publications.waset.org/pdf/1030},
	  url   	= {https://publications.waset.org/vol/62},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 62, 2012},
	}