Design and Development of a Variable Configuration Delivery Robot Platform
- 135 Downloads
In this paper, we introduce a variable configuration delivery robot platform named HuboQ. HuboQ is a wheeled mobile platform with 6-DOF manipulator and is the next version of KDMR-1, our previous robot platform. The design of mechanical and electrical systems and the development of overall system are described to illustrate how HuboQ is structured and improved. The variable configuration can overcome the disadvantages of using only one configuration. There are three variable configurations at HuboQ, four-wheel ZMP control configuration, two-wheel self-balancing configuration and two-wheel human-riding configuration. HuboQ can be used as an autonomous delivery robot and also as a human transporter. Experiments have demonstrated dynamic driving performances of the ZMP control and of two-wheel balancing control.
KeywordsWheeled mobile robot Manipulator Variable configuration Autonomous robot
This work was supported by 2018 Research Fund of Myongji University.
- 1.Wallach, B. A., Koselka, H. A., & Gollaher, D. L. (2002). US6496755B2—Autonomous multi-platform robot system. Google Patents.Google Scholar
- 2.Zhou, T. T. G., Zhou, D. T. X., & Zhou, A. H. B. (2014). US20140254896A1—Unmanned drone, robot system for delivering mail, goods, humanoid security, crisis negotiation, mobile payments, smart humanoid mailbox and wearable personal exoskeleton heavy load flying machine. Google Patents.Google Scholar
- 3.Knepper, R. A., Layton, T., Romanishin, J., & Rus, D. (2013). IkeaBot: An autonomous multi-robot coordinated furniture assembly system. In Proceedings—IEEE international conference on robotics and automation (pp. 855–862). IEEE. https://doi.org/10.1109/icra.2013.6630673.
- 14.Choi, D., & Oh, J. H. (2011). Four and two wheel transformable dynamic mobile platform. In Proceedings of IEEE international conference on robotics automation (pp. 10–13). https://doi.org/10.1109/icra.2011.5980580.
- 16.Kim, M., Choi, D., & Oh, J.-H. (2010). Stabilization of a rapid four-wheeled mobile platform using the ZMP stabilization method. In Proceedings of IEEE/ASME international conference on advanced intelligent mechatronics (pp. 317–322).Google Scholar
- 17.Choi, D., et al. (2018). Real-time motion planning of autonomous personal transporter using model predictive control for minimizing non-minimum phase motion. In 2018 15th international conference on ubiquitous robots, UR 2018 (pp. 362–368). IEEE. https://doi.org/10.1109/urai.2018.8442211.
- 18.Choi, D., & Oh, J.-H. (2008). Human-friendly motion control of a wheeled inverted pendulum by reduced-order disturbance observer. In Proceedings of IEEE international conference on robotics and automation (pp. 2521–2526). IEEE.Google Scholar
- 20.Brown, J. H., & Martin, B. (2012). How fast is fast enough? Choosing between Xenomai and Linux for real-time applications. In Proceedings of the 12th real-time linux workshop (RTLWS’12) 17.Google Scholar