Design and Development of a Variable Configuration Delivery Robot Platform

A Correction to this article is available

This article has been updated

Abstract

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.

This is a preview of subscription content, log in to check access.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17

Change history

  • 29 November 2019

    The original version of this article unfortunately contains a mistake

References

  1. 1.

    Wallach, B. A., Koselka, H. A., & Gollaher, D. L. (2002). US6496755B2—Autonomous multi-platform robot system. Google Patents.

  2. 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.

  3. 3.

    Knepper, R. A., Layton, T., Romanishin, J., & Rus, D. (2013). IkeaBot: An autonomous multi-robot coordinated furniture assembly system. In ProceedingsIEEE international conference on robotics and automation (pp. 855–862). IEEE. https://doi.org/10.1109/icra.2013.6630673.

  4. 4.

    Dorling, K., Heinrichs, J., Messier, G. G., & Magierowski, S. (2017). Vehicle routing problems for drone delivery. IEEE Transactions on Systems, Man, and Cybernetics Systems,47, 70–85.

    Article  Google Scholar 

  5. 5.

    Choi, D., Kim, M., & Oh, J. H. (2012). Development of a rapid mobile robot with a multi-degree-of-freedom inverted pendulum using the model-based zero-moment point stabilization method. Advanced Robotics,26, 515–535.

    Article  Google Scholar 

  6. 6.

    Park, I.-W., Kim, J.-Y., & Oh, J.-H. (2008). Online walking pattern generation and its application to a biped humanoid robot—KHR-3 (HUBO). Advanced Robotics,22, 159–190.

    Article  Google Scholar 

  7. 7.

    Chung, J.-W., Park, I.-W., & Oh, J.-H. (2010). On the design and development of a quadruped robot platform. Advanced Robotics,24, 277–298.

    Article  Google Scholar 

  8. 8.

    Choi, D.-I., Kim, J.-H., & Kim, J.-Y. (2011). Walking control using phase plane of a hydraulic biped humanoid robot. Journal of Institute of Control, Robotics and Systems,17, 269–276.

    Article  Google Scholar 

  9. 9.

    Park, H.-W., Wensing, P. M., & Kim, S. (2017). High-speed bounding with the MIT Cheetah 2: Control design and experiments. The International Journal of Robotics Research,36, 027836491769424.

    Article  Google Scholar 

  10. 10.

    Cho, B. K., & Kim, J. Y. (2018). Dynamic posture stabilization of a biped robot SUBO-1 on slope-changing grounds. International Journal of Precision Engineering and Manufacturing,19, 1003–1009.

    Article  Google Scholar 

  11. 11.

    Lim, J., et al. (2017). Robot system of DRC-HUBO+ and control strategy of team KAIST in DARPA robotics challenge finals. Journal of Field Robotics,34, 802–829.

    Article  Google Scholar 

  12. 12.

    Lee, I., Oh, J., & Bae, H. I. (2018). Constrained whole body motion planning in task configuration and time. International Journal of Precision Engineering and Manufacturing,19, 1651–1658.

    Article  Google Scholar 

  13. 13.

    Park, S., Oh, Y., & Hong, D. (2017). Disaster response and recovery from the perspective of robotics. International Journal of Precision Engineering and Manufacturing,18, 1475–1482.

    Article  Google Scholar 

  14. 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.

  15. 15.

    Choi, D., & Oh, J. (2014). Motion planning for a rapid mobile manipulator using model-based ZMP stabilization. Robotica. https://doi.org/10.1017/s0263574714002501.

    Article  Google Scholar 

  16. 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).

  17. 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. 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.

  19. 19.

    Choi, D., & Oh, J. H. (2015). Active suspension for a rapid mobile robot using cartesian computed torque control. Journal of Intelligent and Robotic Systems,79, 221–235.

    Article  Google Scholar 

  20. 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.

Download references

Acknowledgements

This work was supported by 2018 Research Fund of Myongji University.

Author information

Affiliations

Authors

Corresponding author

Correspondence to Dongil Choi.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Kim, M., Choi, D. Design and Development of a Variable Configuration Delivery Robot Platform. Int. J. Precis. Eng. Manuf. 20, 1757–1765 (2019). https://doi.org/10.1007/s12541-019-00188-9

Download citation

Keywords

  • Wheeled mobile robot
  • Manipulator
  • Variable configuration
  • Autonomous robot