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.
Buy single article
Instant access to the full article PDF.
Tax calculation will be finalised during checkout.
Wallach, B. A., Koselka, H. A., & Gollaher, D. L. (2002). US6496755B2—Autonomous multi-platform robot system. Google Patents.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
Choi, D., & Oh, J. (2014). Motion planning for a rapid mobile manipulator using model-based ZMP stabilization. Robotica. https://doi.org/10.1017/s0263574714002501.
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).
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.
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.
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.
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.
This work was supported by 2018 Research Fund of Myongji University.
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
About this article
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
- Wheeled mobile robot
- Variable configuration
- Autonomous robot