The Seednoid Robot Platform: Designing a Multipurpose Compact Robot From Continuous Evaluation and Lessons From Competitions
The Seednoid Robot Platform: Designing a Multipurpose Compact Robot From Continuous Evaluation and Lessons From Competitions
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Seednoid 机器人平台：根据持续评估和比赛经验教训设计多用途紧凑型机器人
DOI：
10.1109/lra.2018.2859041
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发表时间：
2018
影响因子：
5.2
通讯作者：
M. Inaba
中科院分区：
文献类型：
--
作者：
Kazuhiro Sasabuchi;Hiroaki Yaguchi;Kotaro Nagahama;Shintaro Hori;Hiroto Mizohana;M. Inaba
机器人被设计用于解决特定问题，或者被设计为实现概念的多用途平台。在这封信中，我们从实践和评估中探讨了硬件设计问题，包括DARPA机器人挑战赛，亚马逊采摘挑战赛以及在日本举行的其他比赛。本文旨在回答这样一个问题：如果我们通过竞赛不断改进设计，我们的硬件设计会取得什么样的成就？我们表明，竞争导致一个更紧凑，但有能力的平台设计，是耐用的，并有更多的终端执行器的解决方案。我们还指出了使用比赛设计机器人平台的局限性和好处。我们的平台从一个受人类启发的远程操作设计开始，并已发展到混合类人和工业机器人结构。
Robots are designed to tackle specific problems or are designed as a multipurpose platform that achieves a concept. In this letter, we approach the hardware design problem from practice and evaluation through numerous competitions including the Darpa Robotics Challenge, the Amazon Picking Challenge, and other competitions that were held in Japan. The paper aims to answer the question what hardware design would we achieve if we continuously refine designs through competitions? We show that competitions lead to a more compact but capable platform design that is durable and has more end effector solutions. We also point out the limitations and benefits of using competitions for designing robot platforms. Our platform began from a human-inspired design for teleoperation and has evolved to mix both human-like and industrial robot structure.