Abstract
A service robot for Cultural Heritage frames is proposed as a novel robotic platform with a modular design for both ground locomotion and flight capability. The peculiarities of the system are discussed by performance evaluation via simulation. A prototype has been built and tested both to prove the feasibility of the proposed design and to characterize its operation performance.
Highlights
The International Organization for Standardization defines a “service robot” as a “robot that performs useful tasks for humans or equipment excluding industrial automation applications.”[1]. Service robots can have many shapes and structures and they can serve in many application areas as outlined in the reference handbook by the International Federation of Robotics.[2]
The HeritageBot platform is presented as a service robot for Cultural Heritage
This article is focused on the characterization of the mechanical design of the robotic platform with its modularity and mobility both for ground locomotion and small flight
Summary
The International Organization for Standardization defines a “service robot” as a “robot that performs useful tasks for humans or equipment excluding industrial automation applications.”[1]. This article presents a successful design that integrates a legged mobile robot and a drone module in order to get a robotic platform that has mobility capability both in terrain and aerial areas and has the possibility to be equipped with sensors and instrumentation for applications in Cultural Heritage frames. This solution has been developed within the HeritageBot project in Cassino.[12] Significant attention is addressed to the design process based on the peculiar design requirements for Cultural Heritage sites. Locomotion on the ground is achieved by means of a quadruped legged module, chosen for being the lightest system to perform
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