Omnidirectional Platform Research Articles

Virtual Teleoperation System for Mobile Manipulator Robots Focused on Object Transport and Manipulation

This work describes the development of a tool for the teleoperation of robots. The tool is developed in a virtual environment using the Unity graphics engine. For the development of the application, a kinematic model and a dynamic model of a mobile manipulator are used. The mobile manipulator robot consists of an omnidirectional platform and an anthropomorphic robotic arm with 4 degrees of freedom (4DOF). The model is essential to emulate the movements of the robot and to facilitate the immersion in the virtual environment. In addition, the control algorithms are established and developed in MATLAB 2020 software, which improves the acquisition of knowledge to teleoperate robots and execute tasks of manipulation and transport of objects. This methodology offers a cheaper and safer alternative to real physical systems, as it reduces both the costs and risks associated with using a real robot for training.

Defining the Consistent Velocity of Omnidirectional Mobile Platforms

The maximum linear (or translational) velocity achievable by an omnidirectional platform is not uniform as it depends on the angular orientation of the motion. This velocity is limited by the maximum angular velocity of the motors driving the wheels and also depends on the mechanical configuration and orientation of the wheels. This paper proposes a procedure to compute an upper bound for the translational velocity, named the consistent velocity of the omnidirectional platform, which is defined as the minimum of the maximum translational velocities achievable by the platform in any angular orientation with no wheel slippage. The consistent velocity is then a uniform translational velocity always achievable by the omnidirectional platform regardless of the angular orientation of the motion. This paper reports the consistent velocity for a set of omnidirectional platforms with three omni wheels that have the same radius and angular distribution but different angular orientations. Results have shown that these platforms can achieve different maximum velocities in different angular orientations although the consistent velocity is the same for all of them. Results have also shown that the consistent velocity has a linear relation with the angular velocity of the motion. The consistent velocity of a mobile platform can be used by its path-planning algorithm as an upper bound that guarantees the execution of any omnidirectional motion at a uniform and maximum translational velocity.

Sensor Integration for Autonomous Docking of a Mobile Robot with Omnidirectional Platform

Sensor Integration for Autonomous Docking of a Mobile Robot with Omnidirectional Platform

Analysis of Positioning Accuracy in Case of Design Errors in the Installation of Mecanum Wheels of the Mobile Platform

Introduction. Mobile robots capable of omnidirectional movement are widely used in various fields of human activity. To provide high accuracy of positioning of omnidirectional platforms with mecanum wheels, it is required to develop their detailed mathematical models used in the construction of a motion control system. Due to the complicated design of the mecanum wheels, various errors may occur during the construction of omnidirectional platforms, including the error of installing such wheels on the platform. Its effect on the accuracy of the platform movement has not been studied before. This work aims at assessing the positioning errors that arise due to the presence of design errors in the installation of mecanum wheels, and analyzing the effect of these errors on the accuracy of program motion testing when using control at the kinematic level.Materials and Methods. The analysis of positioning accuracy was based on mathematical modeling of the platform kinematics, taking into account structural errors in the installation of mecanum wheels. To describe the relationship between the angular speeds of rotation of the wheels and the speeds of the platform, the conditions of nonslip of the contact points on the support surface were used. Numerical calculations were carried out in the Wolfram Mathematica package.Results. A formula was obtained for estimating errors in platform pseudovelocities under program control formed at the kinematic level. The estimation of the errors of the platform speeds for simple movements was carried out. According to the calculation results, it has been shown that the speed errors are significant for robots with mecanum wheels operating autonomously.Discussion and Conclusion. The calculation results demonstrated the significant impact of wheel installation errors on the positioning accuracy of the mecanum-platform, and confirmed the need to take into account these design errors when creating autonomous mecanum-platforms. The constructed model of the robot's kinematics makes it possible to predict errors in platform speeds that arise under program control, as well as deviations of the coordinates of the geometric center of the platform from the program motion. The proposed kinematic model can be used to improve the positioning accuracy through forming a platform motion control that compensates for the influence of wheel installation errors.

D.O.T. PAQUITOP, an Autonomous Mobile Manipulator for Hospital Assistance

The use of robotic technologies for caregiving and assistance has become a very interesting research topic in the field of robotics. Towards this goal, the researchers at Politecnico di Torino are developing robotic solutions for indoor assistance. This paper presents the D.O.T. PAQUITOP project, which aims at developing a mobile robotic assistant for the hospital environment. The mobile robot is composed of a custom omnidirectional platform, named PAQUITOP, a commercial 6 dof robotic arm, sensors for monitoring vital signs in patients, and a tablet to interact with the patient. To prove the effectiveness of this solution, preliminary tests were conducted with success in the laboratories of Politecnico di Torino and, thanks to the collaboration with the Onlus Fondazione D.O.T. and the medical staff of Molinette Hospital in Turin (Italy), at the hematology ward of Molinette Hospital.

QUALITY IMPROVEMENTS OF OMNIDIRECTIONAL PLATFORMS

This article discusses the general issues of designing modular mobile robotic platforms (MRPs), which are transport agents in internal logistics systems. The proposed algorithm for the synthesis of robotic systems develops the previously obtained research results of mecanum platform design methods and expands their use as transport agents in the field of e-commerce. The document presents not only general design issues of modular MRPS, but also indicates possible areas of research, offers specific solutions and develops a number of prototypes for omnidirectional platforms.

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

In the last decades, mobile robotics has become a very interesting research topic in the field of robotics, mainly because of population ageing and the recent pandemic emergency caused by Covid-19. Against this context, the paper presents an overview on wheeled mobile robot (WMR), which have a central role in nowadays scenario. In particular, the paper describes the most commonly adopted locomotion strategies, perception systems, control architectures and navigation approaches. After having analyzed the state of the art, this paper focuses on the kinematics of three omnidirectional platforms: a four mecanum wheels robot (4WD), a three omni wheel platform (3WD) and a two swerve-drive system (2SWD). Through a dimensionless approach, these three platforms are compared to understand how their mobility is affected by the wheel speed limitations that are present in every practical application. This original comparison has not been already presented by the literature and it can be used to improve our understanding of the kinematics of these mobile robots and to guide the selection of the most appropriate locomotion system according to the specific application.

Versatile cleaning service robot based on a mobile manipulator with tool switching for liquids and garbage removal in restrooms

In recent years, the labor shortage has become a significant problem in Japan and other countries due to aging societies. However, service robots can play a decisive role in relieving human workers by performing various household and assistive tasks. Restroom cleaning is one of such challenging tasks that involve performing motion planning in a constrained restroom setting. In this study, we propose a mobile manipulator to perform various tasks related to restroom cleaning. Our key contributions include system integration of multiple tools on an arm with high DoF mounted on a mobile, omni-directional platform capable of versatile service cleaning and with extended reachability. We evaluate the performance of our system with the competition setting used for the restroom cleaning task of the Future Convenience Store Challenge at the World Robot Summit 2020, where we obtained the 1st Place. The proposed system successfully completed all the competition tasks within the time limit and could remove the liquid with a removal rate of 96%. The proposed system could also dispose of most garbage and got an average garbage disposal rate of 90%. Further experiments confirmed the scores obtained in the competition with an even higher liquid removal rate of 98%.

Marvin: An Innovative Omni-Directional Robotic Assistant for Domestic Environments.

Population aging and pandemics have been shown to cause the isolation of elderly people in their houses, generating the need for a reliable assistive figure. Robotic assistants are the new frontier of innovation for domestic welfare, and elderly monitoring is one of the services a robot can handle for collective well-being. Despite these emerging needs, in the actual landscape of robotic assistants, there are no platforms that successfully combine reliable mobility in cluttered domestic spaces with lightweight and offline Artificial Intelligence (AI) solutions for perception and interaction. In this work, we present Marvin, a novel assistive robotic platform we developed with a modular layer-based architecture, merging a flexible mechanical design with cutting-edge AI for perception and vocal control. We focus the design of Marvin on three target service functions: monitoring of elderly and reduced-mobility subjects, remote presence and connectivity, and night assistance. Compared to previous works, we propose a tiny omnidirectional platform, which enables agile mobility and effective obstacle avoidance. Moreover, we design a controllable positioning device, which easily allows the user to access the interface for connectivity and extends the visual range of the camera sensor. Nonetheless, we delicately consider the privacy issues arising from private data collection on cloud services, a critical aspect of commercial AI-based assistants. To this end, we demonstrate how lightweight deep learning solutions for visual perception and vocal command can be adopted, completely running offline on the embedded hardware of the robot.

A GNN for repetitive motion generation of four-wheel omnidirectional mobile manipulator with nonconvex bound constraints

This paper proposes a gradient neural network (GNN) to solve the repetitive motion generation scheme of the omnidirectional four-wheel mobile manipulator. The overall kinematics model of the omnidirectional mobile platform and the manipulator fixed on omnidirectional platform are established. First, the analysis of the current repetitive movement generation (RMG) scheme for the kinematic control of the manipulator can find that the position error does not theoretically converge to zero and fluctuates. This paper analyzes the phenomenon from a theoretical viewpoint and reveals that the current RMG scheme has position errors associated with joint errors. Then, to solve the shortcomings of the current solution, an orthogonal projection repetitive motion generation (OPRMG) method is proposed, which theoretically eliminates position errors and decouples joint space and Cartesian space. Using the gradient descent method to establish the corresponding GNN aided with the speed compensation, and provide theoretical analysis to reflect the stability. Moreover, the joint speed limit in the RMG scheme is extended to nonconvex constraints. The advantages of the OPRMG scheme are demonstrated by the simulation results of the omnidirectional mobile manipulator (OMM) synthesized by the current GNNRMG and the proposed GNNOPRMG. In addition, by adjusting the feedback coefficient, the high performance of the OPRMG scheme can be verified by simulation and comparison of the position error (PE) and joint error (JE) of the OMM.

Dual-Task Abilities During Activities Representative of Daily Life in Community-Dwelling Stroke Survivors: A Pilot Study.

BackgroundIn addition to several physical skills, being able to walk in the community, walking independently and safely in the community requires the ability to divide attention between walking and other tasks performed simultaneously. The aims of the present pilot study were to measure cognitive-locomotor dual-task (DT) abilities during activities representative of daily living in stroke survivors and to compare them with age- and gender-matched healthy individuals.MethodsTo assess DT abilities, all participants walked along a virtual shopping mall corridor and memorized a 5-item shopping list. Two levels of task complexity were used for the walking task (with or without virtual agents to avoid) and the cognitive task to recall a list of items (with or without a modification at mid-course). The assessment was conducted using an omnidirectional platform and a virtual reality (VR) headset. Locomotor and cognitive DT costs (DTC) were calculated as the percent change from single-task (ST) performance. Walking speed and minimal distance between the participant and the virtual agents were used to characterize locomotor performance. Cognitive performance was assessed by the number of correctly recalled items. One-sample Wilcoxon tests were used to determine the presence of DTCs and Mann-Whitney tests were performed to compare DTCs between the 2 groups.ResultsTwelve community-dwelling stroke survivors [60.50 years old (25-75th percentiles: 53.50–65.75); 5 women; 13.41 months post-stroke (5.34–48.90)] and 12 age- and gender- matched healthy individuals were recruited. Significant cognitive or mutual (cognitive and locomotor) interferences were observed in participants with stroke in all DT conditions, except the simplest (no virtual agents, no modifications to the list). For the control group, significant mutual interferences were only observed during the most complex DT condition. A group difference was detected in cognitive DTCs during the most complex DT condition (virtual agents and list modifications; p = 0.02). Stroke survivors had greater cognitive DTCs than the control group.ConclusionsUsing an ecological perspective contributes to understanding behavior of stroke survivors in daily activities. Virtual scenarios appear to be an interesting avenue for a more comprehensive understanding of DT abilities during activities representative of daily living in stroke survivors. The usability and feasibility of such an approach will have to be studied before considering implementation in rehabilitation settings.

An Omnidirectional Platform for Education and Research in Cooperative Robotics

In this paper we present a new, affordable, omnidirectional robot platform which is suitable for research and education in cooperative robotics. We design and implement the platform for the purpose of multi-agent object manipulation and transportation. The design consists of three omnidirectional wheels with two additional traction wheels, making multirobot object manipulation possible. It is validated by performing simple experiments using a setup with one robot and one target object. The execution flow of a simple task (Approach–Press–Lift–Hold–Set) is studied. In addition, we experiment to find the limits of the applied pressure and object orientation under certain conditions. The experiments demonstrate the significance of our inexpensive platform for research and education by proving its feasibility of use in topics such as collaborative robotics, physical interaction, and mobile manipulation.

Wireless Communication Technologies in Omnidirectional CubeSat Crosslink: Feasibility Study and Performance Analysis

An efficient omnidirectional CubeSat data crosslink is imperative to ensure the success of resource-intensive advanced CubeSat missions. In this article, we present a feasibility study of wireless technologies in high-speed CubeSat crosslink design. We study the power consumption, pointing requirement, and antenna requirement of each technology to implement an omnidirectional communicator. We also investigate the performance limit of the state-of-the-art wireless technologies considering the realizable link parameters. The achievable data rate and communication distance are studied thoroughly for different communication systems. The analyses show that an optical communication link is capable of delivering more than two orders of magnitude higher data throughput than that of microwave links in an omnidirectional platform. However, the study shows that due to the size and power restriction, a performance crossover region exists where the performance of a microwave channel exceeds the performance of the optical channel. The crossover distance and crossover data rate are studied thoroughly with different system configurations and modulation formats to assess the maximum reach of wireless technologies in a CubeSat crosslink.

Two-Vehicle Coordination System for Omnidirectional Transportation Based on Image Processing and Deviation Prediction

Omnidirectional mobile platform is essential due to its excellent mobility and versatility. With the development of the manufacturing industry, how to transport oversized or overweight goods has become a new problem. Compared with manufacturing omnidirectional mobile platforms with different specifications, it is more cost-effective and flexible to coordinate two non-physically connected omnidirectional platforms to transport overweight and oversized cargo. The roughness of the actual deployment environment and the mechanical deflection between the two vehicles have a significant impact on the normal operation of the system. This paper combines mechanical wheels, image processing algorithms and collaboration algorithms to create a novel and practical split-type omnidirectional mobile platform based on image deviation prediction for transporting oversized or overweighted goods. The proposed system collects raw measurements from a distance sensor and an image sensor, transmits them to a central processing unit through a wireless communication module and calculates and predicts the relative deflection between the two vehicles based on our derived mathematical model. This information is then fed to a Kalman filter and PID control algorithm to coordinate the two vehicles. The effectiveness and performance of our system have been thoroughly tested, which has already been applied in a bullet train production line.

Virtual reality\u2010based assessment of cognitive\u2010locomotor interference in healthy young adults

BackgroundA recent literature review emphasized the importance of assessing dual-task (DT) abilities with tasks that are representative of community ambulation. Assessing DT ability in real-life activities using standardized protocols remains difficult. Virtual reality (VR) may represent an interesting alternative enabling the exposure to different scenarios simulating community walking. To better understand dual-task abilities in everyday life activities, the aims of this study were (1) to assess locomotor and cognitive dual-task cost (DTC) during representative daily living activities, using VR, in healthy adults; and 2) to explore the influence of the nature and complexity of locomotor and cognitive tasks on DTC.MethodsFifteen healthy young adults (24.9 ± 2.7 years old, 8 women) were recruited to walk in a virtual 100 m shopping mall corridor, while remembering a 5-item list (DT condition), using an omnidirectional platform and a VR headset. Two levels of difficulty were proposed for the locomotor task (with vs. without virtual agent avoidance) and for the cognitive task (with vs. without items modification). These tasks were also performed in single task (ST) condition. Locomotor and cognitive DTC were measured by comparing performances in ST and DT conditions. Locomotor performance was characterized using walking speed, walking fluidity, and minimal distance between the participant and the virtual agent during avoidance. Cognitive performance was assessed with the number of items correctly recalled. Presence of DTC were determined with one-sample Wilcoxon signed-rank tests. To explore the influence of the tasks’ complexity and nature on DTC, a nonparametric two-way repeated measure ANOVA was performed.ResultsNo locomotor interference was measured for any of the outcomes. A cognitive DTC of 6.67% was measured (p = .017) while participants performed simultaneously both complex locomotor and cognitive tasks. A significant interaction between locomotor task complexity and cognitive task nature (p = .002) was identified on cognitive DTC.ConclusionsIn challenging locomotor and cognitive conditions, healthy young adults present DTC in cognitive accuracy, which was influenced by the locomotor task complexity task and the cognitive task nature. A similar VR-based protocol might be used to investigate DT abilities in older adults and individuals with a stroke.

Inverse kinematics for cooperative mobile manipulators based on self-adaptive differential evolution.

This article presents an approach to solve the inverse kinematics of cooperative mobile manipulators for coordinate manipulation tasks. A self-adaptive differential evolution algorithm is used to solve the inverse kinematics as a global constrained optimization problem. A kinematics model of the cooperative mobile manipulators system is proposed, considering a system with two omnidirectional platform manipulators with n DOF. An objective function is formulated based on the forward kinematics equations. Consequently, the proposed approach does not suffer from singularities because it does not require the inversion of any Jacobian matrix. The design of the objective function also contains penalty functions to handle the joint limits constraints. Simulation experiments are performed to test the proposed approach for solving coordinate path tracking tasks. The solutions of the inverse kinematics show precise and accurate results. The experimental setup considers two mobile manipulators based on the KUKA Youbot system to demonstrate the applicability of the proposed approach.

Omnidirectional Platforms for Gait Training: Admittance-Shaping Control for Enhanced Mobility

We present a design method for the admittance control of a class of omnidirectional mobile platforms. Holonomic behavior of the platform is accomplished by a steering system that is itself subject to nonholonomic constraints. The proposed application of this type of platform, henceforth the “walker”, is as an assistive device for human gait rehabilitation. Therefore, the control design objectives are to guarantee the stability of the coupled system formed by the robotic platform and the human body, and to maximize mobility for the user by reducing the robot’s apparent inertia. First, we show how feedback linearization of a reduced-order model of the system, combined with a smooth trajectory-tracking control, achieves global asymptotic stability of the tracking error. Then we show how compliance in the robot limits the amount of inertia reduction that can be achieved before instability occurs. We address this problem with a control design method that maximizes the amplitude of the system’s admittance over a useful range of frequencies. Using root locus analysis and sensitivity transfer functions, we find an optimal value for the virtual mass in the admittance model, representing the best tradeoff between two oscillatory modes. The walker’s admittance vs. frequency function is then corrected via a complementary sensor input, namely, the user’s torque on the sagittal plane. A second layer of control provides the walker’s therapeutic action, consisting of a variable horizontal force that aids propulsion of the user’s body. The level of assistive force is modulated with the patient’s gait speed and turning rate to ensure easy adaptation. The control design was validated through an experiment involving human users walking in a prototype of the mobile platform.

The Problem of Balancing an Inverted Spherical Pendulum on an Omniwheel Platform

This paper addresses the problem of balancing an inverted pendulum on an omnidirectional platform in a three-dimensional setting. Equations of motion of the platform – pendulum system in quasi-velocities are constructed. To solve the problem of balancing the pendulum by controlling the motion of the platform, a hybrid genetic algorithm is used. The behavior of the system is investigated under different initial conditions taking into account a necessary stop of the platform or the need for continuation of the motion at the end point of the trajectory. It is shown that the solution of the problem in a two-dimensional setting is a particular case of three-dimensional balancing.

Análisis de necesidades e implementación de tecnología de realidad virtual para entrenamiento y educación militar en Colombia

El artículo se propone realizar el análisis de las necesidades en el entrenamiento y la educación militar de comandante de pequeñas unidades y proponer una solución mediante la implementación de tecnología de realidad virtual. En este trabajo, por medio de la aplicación de una encuesta, se exploran las herramientas disponibles para realizar entrenamiento de comandante de pequeñas unidades. Asimismo, se identifican las necesidades que presenta la institución en este tipo de entrenamiento, centrándose en ejercicios de maniobras de combate irregular. Se realizó un análisis de las principales acciones que debe ejecutar el personal militar en este tipo de entrenamientos con el propósito de identificar medios tecnológicos que den solución a las acciones identificadas. Se propone la integración e implementación de un sistema de simulación haciendo uso de tecnología de realidad virtual y plataformas omnidireccionales para captura de movimiento, identificando factores relevantes como, por ejemplo, la adaptación a este tipo de tecnología y los parámetros de seguridad referentes a la aceptación por parte de los usuarios. El sistema propuesto se constituye en la unidad fundamental en el diseño de un centro de entrenamiento de maniobras irregulares que permitirá la interacción con grupos y diferentes especialidades en el interior de las Fuerzas Armadas.

Structural and mathematical models of software and hardware platform of the training complex

The article discusses the problem of formalizing the structure of software and hardware platform training complex based on a controlled treadmill. The general structure of the platform components is formulated. A mathematical model is developed for an omnidirectional platform in notation of set theory. The criteria for optimizing the software and hardware platform were selected: economic costs, compliance with structural characteristics, energy efficiency; quality indicators. Structural and mathematical models and criteria will allow the design and optimization of the hardware and software platform for the training complex.