Design and Control of a Service Robot with Modular Cargo Spaces

被引：4

作者：

Kang, Taewoong ^{[1
]}

Kim, Joonyoung ^{[1
]}

Song, Dongwoon ^{[1
]}

Kim, Taeyang ^{[1
]}

Yi, Seung-Joon ^{[1
]}

机构：

[1] Pusan Natl Univ, Dept Elect Engn, Busan, South Korea

来源：

2021 18TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS (UR) | 2021年

基金：

新加坡国家研究基金会;

关键词：

D O I：

10.1109/UR52253.2021.9494635

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a general purpose mobile manipulation robot mainly designed for autonomous handling of various service tasks in indoor spaces. The suggested robot has a small footprint and omnidirectional mobility to navigate through tight indoor spaces while avoiding obstacles, and is equipped with a dexterous manipulator and modular cargo space which can be used to carry and deploy multiple items at once. The robot is capable of perception, navigation and manipulation using the modular software codebase we have developed for general service robots, and has demonstrated the capability of picking up, storing and deploying of multiple objects autonomously using its modular cargo space.

引用

页码：595 / 600

页数：6

共 6 条

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[4] Wise Melonee, 2016, Fetch & freight: Standard platforms for service robot applications
[5] Yamaguchi Ui, 2015, P INT C ADV MECH EV, V6, P39
[6] Unified Software Platform for Intelligent Home Service Robots
Yi, Jae-Bong
Kang, Taewoong
Song, Dongwoon
Yi, Seung-Joon
[J]. APPLIED SCIENCES-BASEL, 2020, 10 (17):

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