{"title":"Mobile Carrying Platform: i-Explore","authors":"Kiwon Sohn, Aurian Emami, Jaesung Yang","doi":"10.1115/IMECE2020-23106","DOIUrl":null,"url":null,"abstract":"\n This paper presents the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this paper, the mechanical design and building processes of i-Explore which focused on fast reactiveness and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the mobile robot are described. Lastly, i-Explore is tested and evaluated both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.","PeriodicalId":23585,"journal":{"name":"Volume 7A: Dynamics, Vibration, and Control","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2020-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Volume 7A: Dynamics, Vibration, and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/IMECE2020-23106","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this paper, the mechanical design and building processes of i-Explore which focused on fast reactiveness and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the mobile robot are described. Lastly, i-Explore is tested and evaluated both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.
本文介绍了美国哈特福德大学(University of Hartford)辅助机器人团队(ART)自2018年以来设计和制造的移动运输机器人i-Explore的发展情况。i-Explore的主要目标是在室内环境中帮助和携带有严重身体残疾的儿童，特别是在家庭使用中。本文首先描述了以快速反应性和低成本制造为主要技术设计要求的i-Explore的机械设计和制造过程。然后，描述了移动机器人的运动学分析及其在底层本体控制器中的实现。最后，i-Explore在清洁和混乱的工作空间中进行了测试和评估，其半自动运动是为机器人在以人为中心的环境中导航而设计的。
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
