Multi-purpose Robot Research Articles

A human-oriented framework for developing assistive service robots

Purpose: Multipurpose robots that can perform a range of useful tasks have the potential to increase the quality of life for many people living with disabilities. Owing to factors such as high system complexity, as-yet unresolved research questions and current technology limitations, there is a need for effective strategies to coordinate the development process.Method: Integrating established methodologies based on human-centred design and universal design, a framework was formulated to coordinate the robot design process over successive iterations of prototype development.Results: An account is given of how the framework was practically applied to the problem of developing a personal service robot. Application of the framework led to the formation of several design goals which addressed a wide range of identified user needs. The resultant prototype solution, which consisted of several component elements, succeeded in demonstrating the performance stipulated by all of the proposed metrics.Conclusions: Application of the framework resulted in the development of a complex prototype that addressed many aspects of the functional and usability requirements of a personal service robot. Following the process led to several important insights which directly benefit the development of subsequent prototypes.Implications for RehabilitationThis research shows how universal design might be used to formulate usability requirements for assistive service robots.A framework is presented that guides the process of designing service robots in a human-centred way.Through practical application of the framework, a prototype robot system that addressed a range of identified user needs was developed.

An Agricultural Robot for Multipurpose Operations in a Greenhouse

A multipurpose robot was designed to perform several tasks such as spraying and weeding in a greenhouse. Several operations were conducted by adding or removing sensing component(s), replacing actuator(s) and switching control software, with little or no change of the platform. A sliding mode control was applied to control motion of the robot in light of its kinematic model. Vision based algorithms were developed for navigation and operations of row planting crops, taking operations of spraying water and weeding by machine as examples. A vertical projection method was applied to calculate a guidance line for navigation. Preliminary tests were conducted to assess both guidance and operations of spraying and weeding in a greenhouse with green vegetable, respectively. Results showed that the robot traveled with a maximum lateral error of 47 mm, and sprayed with a productivity of 16-20 plants/min. Also, weeding action was taken in time. The designed robot has adaptability and versatility because the different operations can be achieved on the same platform.

Virtual pheromone map building and a utilization method for a multi-purpose swarm robot system

Swarm robotics is an approach to realizing an intelligent system using swarm intelligence that emerges from complex interactions among individual robots. To implement a swarm robot system requires an efficient method for sharing and utilizing the information that is gathered by multiple robots. In this paper, we propose an algorithm to gather, simplify, share, and use the information in a multi-purpose swarm robot system. To minimize communications traffic among the robots, we use a graph-based map-building method. Furthermore, the nodes on the graph include information about the environment for control and interaction among the robots. We refer to this graph-based map as a virtual pheromone map. We propose an efficient algorithm to build a virtual pheromone map with low communications traffic and without contradictions using error-included sensors. The utilization method of the virtual pheromone map is efficient for implementing the interactions among the robots. The proposed algorithms are validated by a computer simulation. The result of the simulation shows that the virtual pheromone map-based swarm robot system works efficiently from the effects of swarm intelligence.

Multipurpose Tactical Robot

This paper presents a general framework for planning a multipurpose robot which can be used in multiple fields (both civil and military). The framework shows the assembly of multiple sensors, mechanical arm, live video streaming and high range remote control and so on in a single robot. The planning problem is one of five fundamental challenges to the development of a real robotic system able to serve both purposes related to military and civil like live surveillance(both auto and manual), rescuing under natural disaster aftermath, firefighting, object picking, hazard like ignition, volatile gas detection, exploring underground mine or even terrestrial exploration. Each of the four other areas – hardware design, programming, controlling and artificial intelligence are also discussed.

3G5 モジュール型小型汎用ロボットアームの研究開発([GS]計測制御・ロボティクス・メカトロニクスI)

3G5 モジュール型小型汎用ロボットアームの研究開発([GS]計測制御・ロボティクス・メカトロニクスI)

2A1-V05 モジュール型小型汎用ロボットアームの研究開発(製造のロボット化)

In the field of manufacturing of a widely variety of products in small quantities, high versatility and maintainability are required for the working robot in introduction cost or operational cost. Recently, we research and develop a new type small-size multipurpose robot arm which consists of some modules combination. It allows easily change of the workspace or degrees of freedom (DOF) depending on the required task by combining some types of modules. Therefore, it is expected to improve the versatility and maintainability, and moreover, the reduction of the costs are also expected. The purpose of our study is the development of the control system to perform the picking and handling of the small component. In this paper, as the initial step of our study, we configure 3-DOF plan and 6-DOF vertically articulated robot arm as typical examples of our module robot, and we analyze forward/inverse kinematics and simulate the motion of the two robots.

Multipurpose Tactical Robot

This paper presents a general framework for planning a multipurpose robot which can be used in multiple fields (both civil and military). The framework shows the assembly of multiple sensors, mechanical arm, live video streaming and high range remote control and so on in a single robot. The planning problem is one of five fundamental challenges to the development of a real robotic system able to serve both purposes related to military and civil like live surveillance(both auto and manual), rescuing under natural disaster aftermath, firefighting, object picking, hazard like ignition, volatile gas detection, exploring underground mine or even terrestrial exploration. Each of the four other areas – hardware design, programming, controlling and artificial intelligence are also discussed.

A Modular Approach for a Family of Ground Mobile Robots

This paper deals with Epi.q, a family of mobile robots whose main characteristic is a wheel-legged hybrid locomotion. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document presents state of the art security robotics, the Epi.q mechanical architecture, the concept behind the robot driving unit, three prototypes and the design of a new one.

Multipurpose Mobile Robot

The paper presents the construction of a multi-purpose mobile robot. The main assumption was to create a robot which would be able to move in all directions, grab items and communicate with the environment. This developed robot controls the system based on Think-pad X41 tablet with a special interface and its own software.

Deploying a modeling framework for reusable robot behavior to enable informed strategies for domestic service robots

For the development of multi-purpose robots that can operate in a wide range of different situations we will need sophisticated behavioral building blocks to compose the desired performances. In this paper we argue for a behavior modeling framework which provides specific behavior interfaces for implementing robot skills that stay close to evaluation cycles and to rich fused sensory data. This way we ensure reusability and facilitate what we call Informed Strategies. As a specific application we deploy the framework to an object search task for a domestic service robot. The presented behavior involves an attention mapping mechanism based on 2D and 3D visual cues. We show the advantages of the proposed approach by conducting an evaluation in a real-world apartment scenario as well as by successfully taking part in the RoboCup@HOME competition.

Development of a low cost robot system for autonomous measuring of spatial field distributions

Abstract. A new kind of a modular multi-purpose robot system is developed to measure the spatial field distributions of very large as well as of small and crowded areas. The probe is automatically placed at a number of pre-defined positions where measurements are carried out. The advantages of this system are its very low influence on the measured field as well as its wide area of possible applications. In addition, the initial costs are quite low. In this paper the theory underlying the measurement principle is explained. The accuracy is analyzed and sample measurements are presented.

Multi-purpose Robot for Vegetable Production (part 2)

Multi-purpose Robot for Vegetable Production (part 2)

A wireless power supply system for robotic capsular endoscopes

In expanding capsular endoscopy from a mere passive screening tool to a multipurpose robot, batteries become inadequate. Wireless power supply overcomes the problem of power shortage and enables the integration of high-power modules. This work focuses on wireless inductive power transfer and its technology optimization in size, materials and efficiency. A user friendly and stable external unit has been developed that supports power and data transmission through the downlink (from the external world to the capsule). The possibility of using a Helmholtz coil at the primary side has been investigated and a preliminary set-up has been implemented. The ongoing development on 3D coil geometries is further refined by the introduction of a laser machined ferrite core to boost the amount of available power. It is demonstrated that 330 mW can be transferred to a capsule under all possible orientations, within a 0.48 cm 3 volume.

The Do-Anything Robot

The article examines the use of robots that can navigate changing environments, such as offices, and work with hands. Robots have been used in the military, medicine, and households in which they perform specifically-designed tasks. Topics include a brief overview of the design and construction of a multipurpose robot, the PR2 (Personal Robot 2), by the U.S. start-up company Willow Garage, and the challenges of producing all-purpose robots.

A 3D Ferrite Coil Receiver for Wireless Power Supply of Endoscopic Capsules

To expand capsular endoscopy from a mere passive screening tool towards a multipurpose robot, batteries become inadequate. Wireless power supply overcomes the problem of power shortage allowing the integration of high power demanding modules. This work focuses on wireless inductive power transfer and its optimization in size and materials. The ongoing development on 3D coil geometries is further refined by the introduction of a laser machined ferrite core to boost the amount of available power. It is demonstrated that 330mW can be transferred to a capsule under all possible orientations, within a 0.63cm3 volume.

Completely mechanical quick changeable joints for multipurpose explosive ordnance disposal robots

SUMMARYThis paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency.

Development of a Mobile Home Robot System Based on RECS Concept and its Application to Setting and Clearing the Table

A multipurpose robot conducting domestic tasks should be indispensable for social needs, and this type of robot requires sophisticated technologies. A humanoid robot is not really practical at present for actual home or hospital use, considering its reliability and cost. To develop a practical multipurpose robot, we previously proposed the robot-environment compromise system (RECS) concept, which involves technology to modify a robot’s environment to increase robot performance. This concept aims to share the technical difficulties between the robot and the environment so that robot tasks are possible and facilitated. The present paper reports the development of an indoor mobile robot system based on the RECS concept that has a wheel mechanism to traverse steps. We propose a navigation system based on image recognition of landmarks on the ceiling and evaluated its effectiveness in experiments. We also propose a positioning system using a docking mechanism. We demonstrate our proposal’s feasibility using domestic tasks of setting a meal on a table and clearing away the dishes. We also developed a human interface system based on speech synthesis and recognition.

1P2-N-128 汎用ロボットを用いた作業療法支援システムにおける訓練動作解析(医療福祉ロボティクス・メカトロニクス2,生活を支援するロボメカ技術のメガインテグレーション)

1P2-N-128 汎用ロボットを用いた作業療法支援システムにおける訓練動作解析(医療福祉ロボティクス・メカトロニクス2,生活を支援するロボメカ技術のメガインテグレーション)

Experimental implementation of complex path tracking control for large robotic hydraulic excavators

The experimental implementation of the path tracking control of a real hydraulic excavator with an operating weight of 4,500 kg for realising a large hydraulic servo robot with a high loading ability is described in this article. The three working arms are driven by hydraulic valve-controlled cylinders with boom structure systems to achieve rotational motion. Accordingly, the non-linearity of the boom mechanisms, large masses, large dimensions and low natural frequency of the working arms, as well as the coupling influence between the multi-body systems of the three working arms make it difficult to realise high accuracy path tracking control. The control strategy of the model reference adaptive control, which has a simple algorithm and on-line self-tuning ability, is used. Complex path profiles tracking can be achieved by the combination of the path tracking control of the three working arms. Consequently, the large hydraulic excavator can be used as large multi-purpose robots for high loading and high precision applications.

Equipment Note MUPRO: A MULTIPURPOSE ROBOT

The aim of this article was to describe an apparatus, called multipurpose neck robot (MUPRO), designed to record both the forces exerted at head level and the head rotations in the horizontal plane in the behaving monkey. It consists of a mechanical device, comprising a cardan joint, a potentiometer, an electromagnetic brake, and four flexion load cells, plus an oleodynamic system allowing head rotation in the horizontal plane between - 20° These components are assembled on a column bolted to the primate s chair. An electrical device provides DC power for the potentiometer and the brake. The apparatus enables us to measure both the force fields and the head movements during training sessions and electrophysiological investigations.