Abstract
We present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by taking a collective robotics perspective: different types of small robots perform different tasks and exploit complementarity by collaborating together. We propose a robot design to solve one of these tasks: climbing vertical structures and manipulating objects. Our robot embeds two manipulators that can grasp both objects or structures. To help climbing, it uses a rope to compensate for the gravity force. This allows it to free one of its manipulators to interact with an object while the other grasps a part of a structure for stabilization. Our robot can launch and retrieve the rope autonomously, allowing multiple ascents. We show the design and the implementation of our robot and demonstrate the successful autonomous retrieval of a book from a shelf.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
IFR Statistical Department: World Robotics 2008. IFR Statistical Department (2008)
Konolige, K., Fox, D., Ortiz, C., Agno, A., Eriksen, M., Limketkai, B., Ko, J., Morisset, B., Schulz, D., Stewart, B., et al.: Centibots: Very large scale distributed robotic teams. In: Experimental Robotics: The 9th International Symposium, Springer Tracts in Advanced Robotics (STAR), pp. 131–140. Springer, Heidelberg (2005)
Sahin, E.: Swarm robotics: From sources of inspiration to domains of application. In: Swarm Robotics Workshop: State-of-the-art Survey, pp. 10–20. Springer, Heidelberg (2005)
Winfield, A.F.T., Harper, C.J., Nembrini, J.: Towards dependable swarms and a new discipline of swarm engineering. In: Şahin, E., Spears, W.M. (eds.) Swarm Robotics 2004. LNCS, vol. 3342, pp. 126–142. Springer, Heidelberg (2005)
Dorigo, M., Gambardella, L., Mondada, F., Floreano, D., Nolfi, S.: Swarmanoid: Towards humanoid robotic swarms, http://www.swarmanoid.org/
Groß, R., Tuci, E., Dorigo, M., Bonani, M., Mondada, F.: Object transport by modular robots that self-assemble. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 2558–2564 (2006)
Staritz, P., Skaff, S., Urmson, C., Whittaker, W.: Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities. In: IEEE International Conference on Robotics and Automation, 2001. Proceedings 2001 ICRA, vol. 4, pp. 4180–4185. IEEE Press, Los Alamitos (2001)
Balaguer, C., Gimenez, A., Huete, A., Sabatini, A., Topping, M., Bolmsjo, G.: The MATS robot: service climbing robot for personal assistance. IEEE Robotics & Automation Magazine 13(1), 51–58 (2006)
Hillenbrand, C., Berns, K.: Inspection of surfaces with a manipulator mounted on a climbing robot. In: 37th International Symposium on Robotics, ISR (2006)
Longo, D., Muscato, G.: The alicia3 climbing robot: a three-module robot for automatic wall inspection. IEEE Robotics and Automation Magazine 13(1), 42–50 (2006)
Luk, B.L., Cooke, D.S., Galt, S., Collie, A.A., Chen, S.: Intelligent legged climbing service robot for remote maintenance applications in hazardous environments. Robotics and Autonomous Systems 53(2), 142–152 (2005)
Zhang, H., Zhang, J., Zong, G., Wang, W., Liu, R.: Sky cleaner 3: a real pneumatic climbing robot for glass-wall cleaning. IEEE Robotics and Automation Magazine 13(1), 32–41 (2006)
Aracil, R., Saltaren, R., Reinoso, O.: A climbing parallel robot: a robot to climb along tubular and metallic structures. IEEE Robotics and Automation Magazine 13(1), 16–22 (2006)
Vona, M., Detweiler, C., Rus, D.: Shady: Robust Truss Climbing with Mechanical Compliances. In: International Symposium on Experimental Robotics, pp. 431–440. Springer, Heidelberg (2006)
Scheidegger, N., Mondada, F., Bonani, M., Siegwart, R.: Bi-pedal Robot for Rescue Operations. In: 9th International Conference on Climbing and Walking Robots, pp. 425–430 (2006)
Krishna, M., Bares, J., Mutschler, E.: Tethering system design for Dante II. In: Proceedings of 1997 IEEE International Conference on Robotics and Automation, 1997, vol. 2 (1997)
ISO Standard 11898: Road Vehicles Interchange of Digital Information - Controller Area Network - ISO 11898. International Organization for Standardization (1993)
Magnenat, S., Retornaz, P., Bonani, M., Longchamp, V., Mondada, F.: Aseba: a modular architecture for event-based control of complex robots (submitted for publication, 2009)
Magnenat, S., Mondada, F.: Aseba Meets D-Bus: From the Depths of a Low-Level Event-Based Architecture. In: IEEE TC-Soft Workshop on Event-based Systems in Robotics, EBS-RO (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bonani, M., Magnenat, S., Rétornaz, P., Mondada, F. (2009). The Hand-Bot, a Robot Design for Simultaneous Climbing and Manipulation. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_2
Download citation
DOI: https://doi.org/10.1007/978-3-642-10817-4_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
Online ISBN: 978-3-642-10817-4
eBook Packages: Computer ScienceComputer Science (R0)