Relevant bibliographies by topics / Modular Mobile Robotic Platform

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Modular Mobile Robotic Platform'

Author: Grafiati
Published: 4 June 2021
Last updated: 16 February 2022

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Journal articles on the topic "Modular Mobile Robotic Platform"

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Catalan, Jose M., Andrea Blanco, Arturo Bertomeu-Motos, Jose V. Garcia-Perez, Miguel Almonacid, Rafael Puerto, and Nicolas Garcia-Aracil. "A Modular Mobile Robotic Platform to Assist People with Different Degrees of Disability." Applied Sciences 11, no. 15 (August 2, 2021): 7130. http://dx.doi.org/10.3390/app11157130.

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Robotics to support elderly people in living independently and to assist disabled people in carrying out the activities of daily living independently have demonstrated good results. Basically, there are two approaches: one of them is based on mobile robot assistants, such as Care-O-bot, PR2, and Tiago, among others; the other one is the use of an external robotic arm or a robotic exoskeleton fixed or mounted on a wheelchair. In this paper, a modular mobile robotic platform to assist moderately and severely impaired people based on an upper limb robotic exoskeleton mounted on a robotized wheel chair is presented. This mobile robotic platform can be customized for each user’s needs by exploiting its modularity. Finally, experimental results in a simulated home environment with a living room and a kitchen area, in order to simulate the interaction of the user with different elements of a home, are presented. In this experiment, a subject suffering from multiple sclerosis performed different activities of daily living (ADLs) using the platform in front of a group of clinicians composed of nurses, doctors, and occupational therapists. After that, the subject and the clinicians replied to a usability questionnaire. The results were quite good, but two key factors arose that need to be improved: the complexity and the cumbersome aspect of the platform.
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Lenkutis, Tadas, Andrius Dzedzickis, Oleksii Balitskyi, Liudas Petrauskas, Rimgaudas Urbonas, Vytautas Bučinskas, Donatas Valiulis, and Inga Morkvėnaitė-Vilkončienė. "„KUKA YOUBOT“ DINAMINIŲ CHARAKTERISTIKŲ TYRIMAS / RESEARCH OF KUKA YOUBOT DYNAMICAL CHARACTERISTICS." Mokslas - Lietuvos ateitis 11 (February 1, 2019): 1–3. http://dx.doi.org/10.3846/mla.2019.7072.

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In order to maintain competitiveness and a technical edge business entity are increasingly implementing advanced technical solutions in their operational processes, most of which include the installation of various type robotic systems. One of the best known and widely distributed examples of universal robotic system is Kuka-Youbot, which is a modular robotic system developed by KUKA as open source project for education and research. This system consists of two main modules, a robotic arm with 5 degrees of freedom, and a omni-directional mobile platform. It can be assembled in various configuration, such as a stationary robotic arm, a mobile platform, a robotic arm mounted on mobile platform and, two robotics arms mounted on one mobile platform. Positions of robot grabber were determined using two photo cameras of 1920×1080 in resolution, rulers and special algorithm in Matlab software. The longest duration of the vibrations was recorded when rotating Joint II on the vertical plane. The shortest-lasting vibrations were recorded when rotating the Joint V. In order to reduce the duration of the manipulator’s vibration time in operating mode, it is recommended to use the robot’s operating positions located at the horizontal plane.
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Tkáčik, Milan, Adam Březina, and Slávka Jadlovská. "Design of a Prototype for a Modular Mobile Robotic Platform." IFAC-PapersOnLine 52, no. 27 (2019): 192–97. http://dx.doi.org/10.1016/j.ifacol.2019.12.755.

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Dömel, Andreas, Simon Kriegel, Michael Kaßecker, Manuel Brucker, Tim Bodenmüller, and Michael Suppa. "Toward fully autonomous mobile manipulation for industrial environments." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771858. http://dx.doi.org/10.1177/1729881417718588.

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This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are attached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.
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Verbelen, Yannick, Pieter Taelman, An Braeken, and Abdellah Touhafi. "Reconfigurable and Modular Mobile Robotics Platform for Remote Experiments." International Journal of Online Engineering (iJOE) 9, no. 3 (June 11, 2013): 19. http://dx.doi.org/10.3991/ijoe.v9i3.2554.

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Campeau-Lecours, Alexandre, Hugo Lamontagne, Simon Latour, Philippe Fauteux, Véronique Maheu, François Boucher, Charles Deguire, and Louis-Joseph Caron L'Ecuyer. "Kinova Modular Robot Arms for Service Robotics Applications." International Journal of Robotics Applications and Technologies 5, no. 2 (July 2017): 49–71. http://dx.doi.org/10.4018/ijrat.2017070104.

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This article presents Kinova's modular robotic systems, including the robots JACO2 and MICO2, actuators and grippers. Kinova designs and manufactures robotics platforms and components that are simple, sexy and safe under two business units: Assistive Robotics empowers people living with disabilities to push beyond their current boundaries and limitations while Service Robotics empowers people in industry to interact with their environment more efficiently and safely. Kinova is based in Boisbriand, Québec, Canada. Its technologies are exploited in over 25 countries and are used in many applications, including as service robotics, physical assistance, medical applications, mobile manipulation, rehabilitation, teleoperation and in research in different areas such as computer vision, artificial intelligence, grasping, planning and control interfaces. The article describes Kinova's hardware platforms, their different control modes (position, velocity and torque), control features and possible control interfaces. Integration to other systems and application examples are also presented.
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Saranli, Uluç, Akın Avci, and M. Cihan Ozturk. "A Modular Real-Time Fieldbus Architecture for Mobile Robotic Platforms." IEEE Transactions on Instrumentation and Measurement 60, no. 3 (March 2011): 916–27. http://dx.doi.org/10.1109/tim.2010.2078351.

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Tedder, Maurice, David Chamulak, Li-Ping Chen, Santosh Nair, Andrey Shvartsman, I. Tseng, and Chan-Jin Chung. "An affordable modular mobile robotic platform with fuzzy logic control and evolutionary artificial neural networks." Journal of Robotic Systems 21, no. 8 (2004): 419–28. http://dx.doi.org/10.1002/rob.20023.

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Reinhardt, Dagmar, Ninotschka Titchkosky, Chris Bickerton, Rodney Watt, Dylan Wozniak-O’Connor, Christhina Candido, Densil Cabrera, Mitchell Page, and Sascha Bohnenberger. "Towards onsite, modular robotic carbon-fibre winding for an integrated ceiling structure." Construction Robotics 3, no. 1-4 (September 12, 2019): 23–40. http://dx.doi.org/10.1007/s41693-019-00019-3.

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Abstract Among current adoptions of standard industrial robotic arms for automation and mass customisation in the building industry, robotic fabrication is of interest for bespoke manufacturing and advancing mobile and onsite construction processes. The use of robotic arms can be of significance particularly where access and site conditions limit further construction of building elements to be inserted in an existing architectural fabric. This paper introduces research and development of robotic carbon-fibre winding of an integrated ceiling structure to support open and flexible workspaces scenarios. The project Systems Reef 1.0 explores the potential and viability for an integrated infrastructure that expands standard office-ceiling grid systems to support flexible workspace scenario and the agency of networked, dynamic and self-organising teams. To this extent, multiple soffit-hung, rotational and retractable data booms provide fibre-optic data, electrical cabling and integrated lighting. Through geometrically complex, fibre-reinforced building elements that are robotically manufactured onsite, a new distribution system for data and light can be provided to support individual and multi-group collaborations in a contemporary open-plan office for maximum flexibility. In this paper, we discuss research into the development of robotic carbon-fibre threading sequences and physical demonstrators for an integrated ceiling structure that takes into account local ceiling constraints. Using a KUKA KR10 industrial robot and mobile platform, carbon-fibre threading prototypes were integrated with onsite conditions and synthesised in four physical demonstrators that support data provision for flexible desking in open-plan office environment where prefabrication of large-sized building modules is restricted due to access constraints. The paper discusses challenges in integrating robotic carbon-fibre threading, data-driven occupancy, structural performance and results for workspace flexibility, and concludes with an outlook towards future potentials.
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Kalisperakis, I., T. Mandilaras, A. El Saer, P. Stamatopoulou, C. Stentoumis, S. Bourou, and L. Grammatikopoulos. "A MODULAR MOBILE MAPPING PLATFORM FOR COMPLEX INDOOR AND OUTDOOR ENVIRONMENTS." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2020 (August 6, 2020): 243–50. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2020-243-2020.

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Abstract. In this work we present the development of a prototype, mobile mapping platform with modular design and architecture that can be suitably modified to address effectively both outdoors and indoors environments. Our system is built on the Robotics Operation System (ROS) and utilizes multiple sensors to capture images, pointclouds and 3D motion trajectories. These include synchronized cameras with wide angle lenses, a lidar sensor, a GPS/IMU unit and a tracking optical sensor. We report on the individual components of the platform, it’s architecture, the integration and the calibration of its components, the fusion of all recorded data and provide initial 3D reconstruction results. The processing algorithms are based on existing implementations of SLAM (Simultaneous Localisation and Mapping) methods combined with SfM (Structure-from-Motion) for optimal estimations of orientations and 3D pointclouds. The scope of this work, which is part of an ongoing H2020 program, is to digitize the physical world, collect relevant spatial data and make digital copies available to experts and public for covering a wide range of needs; remote access and viewing, process, design, use in VR etc.
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Dissertations / Theses on the topic "Modular Mobile Robotic Platform"

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Gonullu, Muhammet Kasim. "Development Of A Mobile Robot Platform To Be Used In Mobile Robot Research." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615654/index.pdf.

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Robotics is an interdisciplinary subject and combines mechanical, computer and electrical engineering components together to solve different kinds of problems. In order to build robotic systems, these disciplines should be integrated. Therefore, mobile robots can be used as a tool in education for teaching engineering concepts. They can be employed to be used in undergraduate, graduate and doctorate research. Hands on experience on a mobile robot increase motivation of the students on the topic and give them precious practical knowledge. It also delivers students new skills like teamwork, problem solving, creativity, by executing robotic exercises. To be able to fulfill these outcomes, universities and research centers need mobile robot platforms that are modular, easy to build, cheap and flexible. However it should be also powerful and capable of being used in different research studies and hence be customizable depending on the requirements of these topics. This thesis aims at building an indoor mobile robot that can be used as a platform for developing algorithms involving various sensors incorporated onto a mobile platform. More precisely, it can be used as a base for indoor navigation and localization algorithms, as well as it can be used as platform for developing algorithms for larger autonomous mobile robots. The thesis work involves the design and manufacturing of a mobile robot platform that can potentially facilitate mobile robotics research that involves use of various hardware to develop and test different perception and navigation algorithms.
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Bayar, Gokhan. "Configurable Robot Base Design For Mixed Terrain Applications." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/2/12606530/index.pdf.

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Mobile robotics has become a rapidly developing field of interdisciplinary research within robotics. This promising field has attracted the attention of academicy, industry, several government agencies. Currently from security to personal service mobile robots are being used in a variety of tasks. The use of such robots is expected to only increase in the near future. In this study, it is aimed to design and manufacture a versatile robot base. This base is aimed to be the main driving unit for various applications performed both indoors and outdoors ranging from personal service and assistance to military applications. The study does not attempt to individually address any specific application, indeed it is aimed to shape up a robotic module that can be used in a wide range of application on different terrain with proper modification. The robot base is specifically designed for mixed terrain applications, yet this study attempts to provide some guidelines to help robot designers. The manufactured robot base is tested with tracks, wheels, and with both tracks and wheels, results are provided as guidelines to robot designers. Last but no the least, this study aims to obtain the know-how of building functional and flexible robots in Turkey by facilitating local resources as much as possible.
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Kul, Mustafa Cihangir. "Design, Development And Manufacturing Of An All Terrain Modular Robot Platform." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/3/12611858/index.pdf.

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The aim of this thesis is to create a flexible multi-purpose modular all terrain robot platform, which has the potential to be used in commercial applications as well as in education and research. In developing this robot platform, it is aimed to use readily available commercial products as much as possible in order to keep the cost of the product low, increase maintainability, and benefit from the improvements made to these components in time. The modularity is attained by designing a two wheeled base module which is autonomous on its own. This base module is composed of two wheels where, the motors located inside these wheels. It is shown that the proposed base module facilitates the configuration of various robots to suit the needs of diverse applications. Detailed design and manufacturing of one of various possible configurations is presented. Performance tests are conducted on this robot configuration and effectiveness of the proposed modular approach is justified.
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Kapitančik, Maroš. "Zpracování obrazu na platformě Raspberry Pi pro mobilní robotiku." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2016. http://www.nusl.cz/ntk/nusl-240911.

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This thesis deals with developing of image processing algorithm for robots controlled by informations taken from visual system. Core of the used system constitutes low-budget platform Raspberry Pi. Before the development of algorithm there is a series of test for image processing which discovers possibilities of used platform. Problem solution is divided to several parts. Limited performance frequently leads to individual problem solving. Afterall is shown sensitivity and performance analysis of developed solution.
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Cope, Brian Alexander. "Robotic Platform for Internal Inspection." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/19268.

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This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations.
Master of Science
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Aschim, Lars Are, and Lars Martinsen. "Mobile Remote LAN : Designing a modular service platform." Thesis, Norwegian University of Science and Technology, Department of Telematics, 2009. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9852.

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It is not uncommon for today’s users to have access to more than one device, including PC’s, PDA’s and mobile phones. If the user wants to access services from a remote location, he has to manually customize a connection to each of these services. This thesis aims to make these kinds of services available without complex configuration, using a modular framework. As an example, new hardware or software might be needed in order to integrate home services and mobile devices. These circumstances make it hard for a regular user to deploy new services at home. At the same time people become more and more mobile, and users are moving from being passive consumers to interactive participants of the Internet. The general idea of ubiquitous communication between hosts in the Internet is brought down to a practical level by creating a use case where a user would like to search and retrieve files present in his home network while at a remote location. Solutions to non trivial challenges such as NAT and firewall implications, bandwidth restrictions, modular system architecture, and usability are examined to make a modular service platform meeting the demands of more interactive and mobile environments. The XMPP protocol, mostly known as an instant messaging and presence protocol, is utilized to create a web of trust between services and users. To achieve the goal of making a modular service platform, providing connectivity that allows services and users to be mobile, a working prototype has been made. The prototype consists of a modular service platform, enabling services to be added as plug-ins. The service platform is divided in two parts; one part enabling connectivity using a third party solution, and one part enabling a modular framework to add services as plug-ins. The functionality was tested with a network search as an example service, developed as a plug-in using the modular service platform.

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Rodhouse, Kathryn, Steven Ziegler, and Ryan Huttsell. "A Robotic Platform for Student System Design." International Foundation for Telemetering, 2010. http://hdl.handle.net/10150/605979.

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ITC/USA 2010 Conference Proceedings / The Forty-Sixth Annual International Telemetering Conference and Technical Exhibition / October 25-28, 2010 / Town and Country Resort & Convention Center, San Diego, California
The goal of the project described in this paper, is to develop a platform for undergraduate engineering students to use in system analysis and design courses. We chose to develop an inexpensive robotic platform. The robot is intended to be autonomous, under the control of an on-board microcontroller. In the first revision of the hardware, a three wheeled design will be used, with the intention of being used indoors, on smooth surfaces. Students in their first year of college education will purchase the components, and assemble the robot. After analyzing the baseline design, they will be encouraged to incorporate new sensors and actuators in the subsequent laboratory courses.
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McCoig, Kenneth. "A MOBILE ROBOTIC COMPUTING PLATFORM FOR THREE-DIMENSIONAL INDOOR MAPPI." Master's thesis, University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2372.

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There are several industries exploring solutions to quickly and accurately digitize unexplored indoor environments, into useable three-dimensional databases. Unfortunately, there are inherent challenges to the indoor mapping process such as, scanning limitations and environment complexity, which require a specific application of tools to map an environment precisely with low cost and high speed. This thesis successfully demonstrates the design and implementation of a low cost mobile robotic computing platform with laser scanner, for quickly mapping with high resolution, urban and/or indoor environments using a gyro-enhanced orientation sensor and selectable levels of detail. In addition, a low cost alternative solution to three-dimensional laser scanning is presented, via a standard two-dimensional SICK proximity laser scanner mounted to a custom servo motor mount and controlled by external microcontroller. A software system to control the robot is presented, which incorporates and adheres to widely accepted software engineering guidelines and principles. An analysis of the overall system, including robot specifications, system capabilities, and justification for certain design decisions, are described in detail. Results of various open source software algorithms, as it applies to scan data and image data, are also compared; including evaluation of data correlation and registration techniques. In addition, laser scanner mapping tests, specifications, and capabilities are presented and analyzed. A sample design for converting the final scanned point cloud data to a database is presented and assessed. The results suggest the overall project yields a relatively high degree of accuracy and lower cost over most other existing systems surveyed, as well as, the potential for application of the system in other fields. The results also discuss thoughts for possible future research work.
M.S.Cp.E.
Department of Electrical and Computer Engineering
Engineering and Computer Science
Computer Engineering
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Zhu, Li. "A distributed modular self-reconfiguring robotic platform based on simplified electro-permanent magnets." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30060.

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Un système robotique distribué et reconfigurable (MSRR) est composé de plusieurs modules ayant certaines fonctions de mouvement, de perception et d'action. Ils peuvent s'adapter à l'environnement et aux objectifs en se connectant et en se déconnectant pour obtenir la configuration et la forme désirées. Les MSRR contiennent souvent deux systèmes : l'un constitué d'actionneurs pour le mouvement, l'autre pour la connexion. A l'heure actuelle, de nombreuses institutions travaillent sur les MSRR ; la conception, la miniaturisation, l'économie d'énergie, les algorithmes de contrôle ont fait l'objet de recherches dans ce domaine. Cependant, il existe peu d'études conjointes sur le matériel et les algorithmes correspondants. Cette thèse décrit la conception, la fabrication, les résultats expérimentaux, l'algorithmique distribuée et un simulateur d'une plate-forme MSRR. En nous appuyant sur le calcul et la simulation numérique, nous présentons un aimant électro-permanent simplifié (SEP) qui ne consomme pas d'énergie lorsque le module est connecté à un autre module. Un nouveau concept de moteur linéaire basé sur les SEP est également proposé. Ensuite, nous présentons DILI, un MSRR cubique, de longueur 1,5cm. Le module DILI peut coulisser sur une surface plane, la vitesse maximale pouvant atteindre 20mm/s. Avec le nouvel actionneur, DILI peut réaliser les fonctions de mouvement et de connexion. Un module DILI peut se connecter avec quatre autres modules. Enfin, un algorithme distribué est proposé et un simulateur est conçu pour permettre de simuler le système distribué, de tester et valider les algorithmes distribués
A distributed modular self-reconfiguring robotic (MSRR) system is composed of many repeated basic modules with certain functions of motion, perception, and actuation. They can adapt to environment and goals by connecting and disconnecting to achieve the desired configuration and shape. MSRRs often contain two hardware systems: one is for actuation (motion), another one is for connection. At present time many institutions work on MSRRs; structural design, miniaturization, energy saving, control algorithms have been the focus of research in this area. However, only a few of them work on both the hardware and the corresponding algorithms. This thesis describes the design, fabrication, experimental results, distributed algorithm, and simulator of a MSRR platform. Via theoretical calculation and numerical simulation, we present the simplified electro-permanent (SEP) magnet which can change the magnetic field direction and does not require energy consumption while connected. A new concept of linear motor based on SEP is proposed. Then we construct DILI, a cubical MSRR, the length of each module is 1.5cm. DILI module can slide on a flat surface; the maximum speed can reach 20mm/s. With the new actuator, DILI can achieve the functions of motion and connection with only one system inside. Finally, a distributed algorithm is proposed in order to build a smart conveyor, and a simulator is designed that permits one to perform distributed simulations, test and validate distributed algorithms
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Johns, Byron Edward. "Design and Control of a New Reconfigurable Robotic Mobility Platform." Thesis, Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/14632.

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The development of a new family of robotic vehicles for use in the exploration of Mars and other remote planets is an ongoing process. Current rovers have to traverse rough terrain and be able to withstand various conditions on Mars. The goal of this project is to design a new Mars rover mobility system that performs to optimum capability. This project will involve the design and control of a robot that will use wheels, as well as legs, allowing the robot to reconfigure itself to adapt to its current environment and traverse various terrains. This new reconfigurable hybrid robotic vehicle, Byrobot (named after the student), will have a six-legged mobility design for walking. Each leg will have 3 degrees of freedom, controlled by 3 separate servos, for the movement of the legs. Byrobot will also have 4 wheels each directly attached to the shaft of a DC motor, for four-wheel differential drive. By having these two mobility systems, Byrobot will be able to operate in various environments, by capitalizing on the advantages of both legged and wheeled robots. The CAD designing for this new robot is done on Pro-Engineer, and mechanisms and animations will be run to test movement of parts. The actual robot hardware will then be constructed in the Georgia Tech MRDC machine shop. The control system for the robot will be run by the Eyebot, which uses a 25MHz 32bit Controller (Motorola 68332), as well as the SSC-32 Servo Controller from Lynxmotion. This new robotic mobility platform will facilitate future Mars exploration.
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Book chapters on the topic "Modular Mobile Robotic Platform"

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Pavliuk, Nikita, Ilya Kharkov, Eldar Zimuldinov, and Vladimir Saprychev. "Development of Multipurpose Mobile Platform with a Modular Structure." In Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, 137–47. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-9267-2_12.

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Friedmann, Martin, Sebastian Petters, Max Risler, Hajime Sakamoto, Oskar von Stryk, and Dirk Thomas. "A New, Open and Modular Platform for Research in Autonomous Four-Legged Robots." In Autonome Mobile Systeme 2007, 254–60. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-74764-2_39.

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Tetzlaff, Thomas, Florian Wagner, and Ulf Witkowski. "Modular Mobile Robot Platform for Research and Academic Applications in Embedded Systems." In Advances in Autonomous Robotics, 270–78. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-32527-4_24.

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Herbrechtsmeier, Stefan, Ulf Witkowski, and Ulrich Rückert. "BeBot: A Modular Mobile Miniature Robot Platform Supporting Hardware Reconfiguration and Multi-standard Communication." In Progress in Robotics, 346–56. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-03986-7_40.

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Barrall, G., and K. Warwick. "A Modular Approach to Mobile Robot Design." In Robotic Systems, 367–74. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2526-0_42.

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Fox, Charles W., Mathew H. Evans, Nathan F. Lepora, Martin Pearson, Andy Ham, and Tony J. Prescott. "CrunchBot: A Mobile Whiskered Robot Platform." In Towards Autonomous Robotic Systems, 102–13. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-23232-9_10.

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Ma, Shugen, Changlong Ye, Bin Li, and Yuechao Wang. "Reconfigurable Modular Universal Unit (MUU) for Mobile Robots." In Distributed Autonomous Robotic Systems 8, 453–61. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00644-9_40.

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von Frankenberg, Florentin, Robin McDougall, Scott Nokleby, and Ed Waller. "A Mobile Robotic Platform for Generating Radiation Maps." In Intelligent Robotics and Applications, 407–16. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33515-0_41.

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Heyes, N. J., and H. A. Warren. "Economic Prospects for Mobile Robotic Systems, New Modular Components." In Climbing and Walking Robots, 1095–101. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_131.

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Hodoň, Michal, Juraj Miček, and Michal Kochláň. "Networking Extension Module for Yrobot—A Modular Educational Robotic Platform." In Robotics in Education, 159–67. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-42975-5_15.

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Conference papers on the topic "Modular Mobile Robotic Platform"

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Ko, David, Nalaka Kahawatte, and Harry H. Cheng. "Controlling Modular Reconfigurable Robots With Handheld Smart Devices." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48415.

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Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.
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Sahin, Ferat, Wayne Walter, and Kevin Kreigbaum. "Design, Build, and Test of Modular Mobile Micro Robots." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-41513.

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This paper presents a novel architecture for a mobile micro robot design. The architecture will have hardware and software modularity. The modular architecture of the platform provides “plug-and-play” capability that will allow hardware and software subsystems to be easily swapped. This paper focuses on vertical hardware modularity in the sense that modules will not be identical to each other but have common connectivity. Our approach slices a robot into functional modules such as locomotion, control, sensors, communication, and actuation. Any mobile robot can be constructed by combining the above abstract modules. A sub-module is a piece of hardware, which accomplishes the functionality of an abstract module, i.e. a wireless communication sub-module for a communication module. The software architecture consists of abstract classes and their objects. The abstract classes are “robot”, “locomotion”, “control”, “communication”, “sensor”, and “actuators”. From these abstract classes, concrete classes are derived. The objects are going to be created from the concrete classes. For example, “wireless” can be a class inherited from “communication” class. Then, an instance of “wireless” class can be created as the communication module in the robot. The objects (tasks) are dynamically loaded into the robots so that the modular OS can run the tasks on the sub-module it has. The paper explores generations of micro robot designs with modular architecture.
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Elkady, Ayssam, Jovin Joy, and Tarek Sobh. "A Plug and Play Middleware for Sensory Modules, Actuation Platforms and Task Descriptions in Robotic Manipulation Platforms." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47185.

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We are developing a framework (RISCWare) for the modular design and integration of sensory modules, actuation platforms, and task descriptions that will be implemented as a tool to reduce efforts in designing and utilizing robotic platforms. The framework is used to customize robotic platforms by simply defining the available sensing devices, actuation platforms, and required tasks. The main purpose for designing this framework is to reduce the time and complexity of the development of robotic software and maintenance costs, and to improve code and component reusability. Usage of the proposed framework prevents the need to redesign or rewrite algorithms or applications due to changes in the robot’s platform, operating systems, or the introduction of new functionalities. In this paper, the RISCWare framework is developed and described. RISCWare is a robotic middleware used for the integration of heterogeneous robotic components. RISCWare consists of three modules. The first module is the sensory module, which represents sensors that collect information about the remote or local environment. The platform module defines the robotic platforms and actuation methods. The last module is the task-description module, which defines the tasks and applications that the platforms will perform such as teleoperation, navigation, obstacle avoidance, manipulation, 3-D reconstruction, and map building. The plug-and-play approach is one of the key features of RISCWare, which allows auto-detection and auto-reconfiguration of the attached standardized components (hardware and software) according to current system configurations. These components can be dynamically available or unavailable. Dynamic reconfiguration provides the facility to modify a system during its execution and can be used to apply patches and updates, to implement adaptive systems, or to support third-party modules. This automatic detection and reconfiguration of devices and driver software makes it easier and more efficient for end users to add and use new devices and software applications. In addition, the software components should be written in a flexible way to get better usage of the hardware resource and also they should be easy to install/uninstall. Several experiments, performed on the RISCbot II mobile manipulation platform, are described and implemented to evaluate the RISCWare framework with respect to applicability and resource utilization.
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Platt, Stephen R., Jeff A. Hawks, Mark E. Rentschler, Lee Redden, Shane Farritor, and Dmitry Oleynikov. "Modular Wireless Wheeled In Vivo Surgical Robots." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49157.

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Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the patient’s body generally limits these benefits to patients undergoing procedures with relatively low complexity. The use of miniature in vivo robots that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work has demonstrated that mobile and fixedbased in vivo robots can successfully operate within the abdominal cavity and provide surgical vision and task assistance. All of these robots used tethers for power and data transmission. This paper describes recent work focused on developing a modular wireless mobile platform that can be used for in vivo sensing and manipulation applications. The robot base can accommodate a variety of payloads. Details of the designs and results of ex vivo and in vivo tests of robots with biopsy grasper and physiological sensor payloads are presented. These types of self-contained surgical devices are much more transportable and much lower in cost than current robotic surgical assistants. These attributes could ultimately allow such devices to be carried and deployed by non-medical personnel at the site of an injury. A remotely located surgeon could then use these robots to provide critical first response medical intervention irrespective of the location of the patient.
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Marin, Leonardo. "Modular Open Hardware Omnidirectional Platform for Mobile Robot Research*." In 2018 IEEE 2nd Colombian Conference on Robotics and Automation (CCRA). IEEE, 2018. http://dx.doi.org/10.1109/ccra.2018.8588120.

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Bernier, Emmanuel, Ryad Chellali, and Indira Mouttapa Thouvenin. "The MobilAR Robot, Ubiquitous, Unobtrusive, Augmented Reality Device." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82794.

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We present a new mobile Augmented Reality device that combines mobile robotics, human-robots interactions, and 3D modeling to augment users’ perception of their environment. The developed device, the MobilAR, provides minimally intrusive AR, where users do not need to wear any apparatus and no markers are used to align real and virtual entities. The mobilAR design is as follow: a projector is mounted on the end-effector of a robotic arm, itself mounted on a wheeled platform. The robotic arm allows to project undistorted content on any part of the environment such as walls, floor, ceiling and objects by using the right image transformation. The mobile base makes it possible to have the projector anywhere inside a building. The device uses self-localization and computer vision techniques to model the physical world and augment it. The mobilAR platform also encompasses a gesture recognition module for user interaction. As a proof-of-concept, we implemented a simple guided tour scenario of our laboratory where the MobilAR follows a user and projects contents on any surface. Results and extensions of this work are also discussed.
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BACHRATÝ, MICHAL, PETER HUBINSKÝ, and ANTON VITKO. "HARDWARE INDEPENDENT PLATFORM FOR MODULAR ROBOTICS BASED ON PROTOTHREADS AND CONTIKI LOADER." In Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2011. http://dx.doi.org/10.1142/9789814374286_0051.

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Matthias, Rene, and Heinz Worn. "Utilizing the full potential of a new flexible platform in modular self-reconfigurable mobile robotics." In 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2011. http://dx.doi.org/10.1109/robio.2011.6181715.

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Saha, Homagni, Tianshuang Gao, Hamid Emadi, Zhanhong Jiang, Arti Singh, Baskar Ganapathysubramanian, Soumik Sarkar, Asheesh Singh, and Sourabh Bhattacharya. "Autonomous Mobile Sensing Platform for Spatio-Temporal Plant Phenotyping." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5207.

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This paper presents the design, modeling, control and navigation for a novel ground-based mobile sensing platform that can collect multi-modal data in agricultural research farms for high throughput modular plant phenotyping. The platform will have the following capabilities (i) Navigate in a row-crop farm to collect data with minimal human intervention during operation (ii) Autonomous decision making i.e, it can take its own decisions for maximizing the value of information of the acquired data and (iii) Scalable in terms of the size of the farmland. The design requirements for such a platform or robot is formulated, and a detailed discussion on realizing such a design is presented. The dynamics of the robot is presented in the state space form and it is abstracted in the form of a control flow diagram for the automatic steering system. An adaptive sampling approach has been taken to generate an estimated belief-space which is leveraged in the proposed opportunistic sensing scheme to generate way-points for navigation.
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Tan, Aaron Hao, Haoxiang Lang, and Moustafa El-Gindy. "A Novel Autonomous Scaled Electric Combat Vehicle." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97163.

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Abstract Current literature pertaining to multi-steerable mobile platforms and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a novel 1:6 scaled electric combat vehicle prototype that features eight independently driven and steerable wheels is designed and developed in this paper. The intent is to create a scaled model for future autonomous vehicle navigation and control research in off road terrains. Starting with the mechanical design, this paper discusses the details of the chassis, suspension, driving and steering systems development. The electronics necessary for vehicle actuation is implemented with custom nodes and topics created for hardware communication within the Robot Operating System (ROS). Lastly, path planning and obstacle avoidance abilities are implemented to achieve autonomous navigation. The result of this work is a fully functional and instrumented robotic platform with a modular software architecture. Vehicle design analysis, performance and autonomous navigation abilities are experimentally tested with promising results.
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