A Development of Home Service Robot using Omni-Wheeled Mobility and Task-Based Manipulation
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.
[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
[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
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:50173", author = "Hijun Kim and Jungkeun Sung and Seungwoo Kim", title = "A Development of Home Service Robot using Omni-Wheeled Mobility and Task-Based Manipulation", 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", volume = "6", number = "2", pages = "390-4", }