A robot system design for low-cost multi-robot manipulation
A robot system design for low-cost multi-robot manipulation
复制标题
一种低成本多机器人操纵的机器人系统设计
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Kevin Koch
中科院分区：
文献类型：
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作者：
James McLurkin;Adam McMullen;N. Robbins;Golnaz Habibi;Aaron T. Becker;Alvin Chou;Hao Li;M. John;Nnena Okeke;Joshua Rykowski;Sunny Kim;William Xie;Taylor Vaughn;Y. Zhou;Jennifer Shen;Nelson Chen;Quillan Kaseman;Lindsay Langford;Jeremy Hunt;A. Boone;Kevin Koch
多机器人操作允许可扩展的环境交互，这对于多机器人系统对我们的世界产生影响至关重要。一个成功的操作模型需要具有成本效益的机器人，强大的硬件，以及适当的系统反馈和控制。本文详细介绍了r-one机器人的关键传感和机械手功能。r-one机器人是一个先进的、开源的、低成本的多机器人操作和传感平台，可以满足所有这些要求。每个机器人的零件成本约为250美元。R-one拥有丰富的传感器套件，包括灵活的红外通信/定位/障碍物检测系统、高精度正交编码器、陀螺仪、加速度计、集成碰撞传感器和光传感器。与这些机器人一起工作了两年，激发了外部操纵器的开发，使机器人能够与环境互动。本文概述了r-one，r-one机械手，和基本的操作实验，以说明我们的设计的功效。先进的设计，低成本和小尺寸可以支持大学研究，大量的机器人和计算机科学，电气工程和机械工程的多机器人课程。最后，我们对操纵器的未来实施和预期的工作进行了评论。
Multi-robot manipulation allows for scalable environmental interaction, which is critical for multi-robot systems to have an impact on our world. A successful manipulation model requires cost-effective robots, robust hardware, and proper system feedback and control. This paper details key sensing and manipulator capabilities of the r-one robot. The r-one robot is an advanced, open source, low-cost platform for multi-robot manipulation and sensing that meets all of these requirements. The parts cost is around $250 per robot. The r-one has a rich sensor suite, including a flexible IR communication/localization/obstacle detection system, high-precision quadrature encoders, gyroscope, accelerometer, integrated bump sensor, and light sensors. Two years of working with these robots inspired the development of an external manipulator that gives the robots the ability to interact with their environment. This paper presents an overview of the r-one, the r-one manipulator, and basic manipulation experiments to illustrate the efficacy our design. The advanced design, low cost, and small size can support university research with large populations of robots and multi-robot curriculum in computer science, electrical engineering, and mechanical engineering. We conclude with remarks on the future implementation of the manipulators and expected work to follow.