Man-machine interface for modular robot systems

A modular robot is composed of multiple modules, each comprising a sensor, an actuator, and a control system. Each module accumulates information about its own sensor, actuator, and connections to other modules, as well as communication information between adjoining modules. The user obtains this information via an interface, and can thus recognize the state of the robot and issue commands. However, when the number of modules becomes large, the amount of information sent from the modules becomes too much for the user to deal with effectively. Naturally, it also becomes more difficult for the user to issue commands to the modular robot as the number of modules increases. In this study, we developed an interface to present, in a simple manner, information aggregated in a certain module from other modules, and we examined its effectiveness in a modular robot composed of these modules.     

Detection system of a security robot using multisensor fusion algorithms

This article develops a detection system with a module-based intelligent security robot that has a uniform interface. The detection system contains a power detection module, a gas detection module, an environment detection module, and a fire detection module, etc. The control unit of these modules is a HOLTEK microchip. These modules can communicate with a master module via an I2C interface. The master module communicates with the main controller of the security robot via an RS232 interface. The main controller of the security robot system is an industry personal computer (IPC). It can display the status of these modules on the monitor. These detection modules can enhance the detection results using multisensory fusion algorithms. The user can add or remove the detection modules in any time, and the main controller can acquires sensor signals from these detection modules in real-time. Finally, we present some experimental results using these detection modules, and integrate these modules in a module-based intelligent security robot that executes several scenarios.     

Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules

We discuss a robotic system composed of Crystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the Crystalline module concept and show the basic motions that enable a Crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments.     

ModRED: Hardware design and reconfiguration planning for a high dexterity modular self-reconfigurable robot for extra-terrestrial exploration

This paper presents a homogeneous modular robot system design based on four per-module degrees of freedom (DOF), including a prismatic DOF to increase the versatility of its reconfiguration and locomotion capabilities. The ModRED (Modular Robot for Exploration and Discovery) modules are developed with rotary-plate genderless single sided docking mechanisms (RoGenSiD) that allow chain-type configurations and lead towards hybrid-type configurations. Various locomotion gaits are simulated through the Webots robot simulator and implemented in the real ModRED system. This work also addresses the problem of dynamic reconfiguration in a modular self-reconfigurable robot (MSR). The self-reconfiguration problem is modeled as an instance of the graph-based coalition formation problem. We formulate the problem as a linear program that finds the “best” partition or coalition structure among a set of ModRED modules. The technique is verified experimentally for a variety of settings on an accurately simulated model of the ModRED robot within the Webots robot simulator. Our experimental results show that our technique can find the best partition with a reasonably low computational overhead.     

基于ROS的智能工业机器人系统开发平台

目前,工业机器人对于机器视觉、自主路径规划等智能化功能需求日益增长.然而在传统工业机器人系统中添加智能化功能模块时需要修改大量的源码,浪费了人力和成本.本文提出的基于ROS的易扩展机器人系统开发平台,能为开发者开发智能工业机器人系统提供了方便.本平台分为服务器端和机器人端.将机器人端作为一级节点,与安装ROS的PC服务器端进行通信.机器人一级节点由二级功能节点与功能模块组成.根据此平台开发实现的JPB06六自由度工业机器人系统具有机器视觉、自主定位、语音控制等智能化功能,可以满足工业机器人对于智能化和实时控制的需求.     

An Application Platform for the Development and Experimental Validation of Mobile Robots for Health Care Purposes

This paper describes an Application Platform for the development and testing of mobile robot units. Within this platform, various applications addressing different aspects of robot development are composed into an experimental environment. The Application Platform comprises modules such as a Neural Networks Simulator, a simulation and off-line programming system, optical sensor components, a rapid prototyping system, and an experimental workcell. Each of these modules is described in detail including its integration with the other modules. In conclusion, the potential use of this platform for health care tasks is indicated.     

Development of an indoor navigation system for a monocular-vision-based autonomous mobile robot

We have developed a technology for a robot that uses an indoor navigation system based on visual methods to provide the required autonomy. For robots to run autonomously, it is extremely important that they are able to recognize the surrounding environment and their current location. Because it was not necessary to use plural external world sensors, we built a navigation system in our test environment that reduced the burden of information processing mainly by using sight information from a monocular camera. In addition, we used only natural landmarks such as walls, because we assumed that the environment was a human one. In this article we discuss and explain two modules: a self-position recognition system and an obstacle recognition system. In both systems, the recognition is based on image processing of the sight information provided by the robot’s camera. In addition, in order to provide autonomy for the robot, we use an encoder and information from a two-dimensional space map given beforehand. Here, we explain the navigation system that integrates these two modules. We applied this system to a robot in an indoor environment and evaluated its performance, and in a discussion of our experimental results we consider the resulting problems.     

基于改进RBPF算法的轮式机器人SLAM导航系统设计

传统的机器人导航系统在复杂的地形环境中常常无法引导机器人躲避突然出现的障碍物,无法精准采集数据;为此提出一种改进RBPF算法的轮式机器人SLAM导航系统,对系统硬件和软件进行设计;改进RBPF算法是一种滤波算法,将激光雷达与里程计的信息作为提议分布,提高了导航精度;系统硬件主要由导航功能模块、底盘驱动模块、控制模块组成,利用RPLIDAR A1型激光雷达设计导航功能模块,并设计底盘驱动模块和控制模块;软件设计中,以改进RBPF算法为基础,设计了轮式机器人SLAM导航系统的实现程序,应用算法代入的方式加强了普通轮式机器人导航算法对粒子计算与卡尔曼滤波的敏感程度;实验结果表明,在有障碍物的室内场景中,与传统滤波算法以及基于软件库系统相比,改进RBPF算法规划的路径更短,导航错误点出现率降低了30%左右。     

Developing a module-based security system for an intelligent home

The security system in a workplace or home is important to human life. Unlucky events are often caused by the negligence of humans. We have developed a modulebased security system for home automation. The structure of the security system contains many modules. Each module has two types of interface (wireless RF and speech). There are active and passive modules in the security system. The active security module is a smart robot. We have designed many types of smart robot for the security system. The passive security modules include a fire security module, an intruder security module, an environment security module, a gas security module, an AC power security module, and an appliance control module. In the security module, we use multisensor fusion algorithms to decide the exact output. In these modules, we use a two-wire communication method through the wireless RF interface, and a voice alarm for serious events, and transmit the real-time status to the supervised computer. In the smart robot system, we have designed many types of smart robot for the security system. We have designed a general user interface (GUI) for the intelligent security system. The user interface can supervise these modules and the smart robots via the wireless RF device, and supervise the security system via wireless, Internet, and cell phone.     

An enhanced topological map for efficient and reliable mobile robot navigation with imprecise sensors

An enhanced topological mapping system for efficient and reliable navigation is presented. The map has a topological framework and some additional features. Firstly, it utilizes such rough metrical information as the length and orientation of the links. Secondly, it provides a reliable localization algorithm with which the robot first finds the interval describing the robot’s probable location by estimating the projected traveled distance using dead reckoning and then fine-tunes the estimation using landmark detection modules. Finally, it provides a planning algorithm with which the robot’s path is chosen so that the robot reaches the goal location as fast as possible without losing its way despite using such imprecise sensors as ultrasonic range finders.We have implemented and tested the proposed mapping system both on a simulator and a real mobile robot, the CAIR-2. This paper also describes landmark detection modules that utilize ultrasonic range finders. Although landmark detection modules are too simple and imprecise to estimate position by themselves, these experiments show that the proposed mapping system can reliably guide robots.     

A heterogeneous modular robotic design for fast response to a diversity of tasks

This paper describes a heterogeneous modular robot system design which attempts to give a quick solution to a diversity of tasks. The approach is based on the use of an inventory of three types of modules i.e., power and control module, joint module and specialized module. Each module type aims to balance versatility and functionality. Their design permits rapid and cost effective design and fabrication. They are interchangeable in different ways to form different robot or system configurations. Depending on the task, the operator decides what type of robot can provide the best performance within the mission. A spherical joint module is described and used to build different robots, hence, forward and inverse kinematics models are obtained. Finally, from the modules described in this work, several robot configurations such as robotic arms, leg-based robots and wheel-based robots are assembled to demonstrate the execution of manipulation and locomotion tasks.     

Evaluation of a Small Socially-Assistive Humanoid Robot in Intelligent Homes for the Care of the Elderly

The ageing population phenomenon is pushing the design of innovative solutions to provide assistance to the elderly. In this context a socially–assistive robot can act as a proactive interface in a smart-home environment, providing multimodal communication channels and generating positive feelings in users. The present paper reports results of a short term and a long term evaluation of a small socially assistive humanoid robot in a smart home environment. Eight elderly people tested an integrated smart–home robot system in five real–world scenarios. Six of the participants experienced the system in two sessions over a two week period; the other two participants had a prolonged experience of eight sessions over a three month period. Results showed that the small humanoid robot was trusted by the participants. A cross–cultural comparison showed that results were not due to the cultural background of the participants. The long term evaluation showed that the participants might engage in an emotional relationship with the robot, but that perceived enjoyment might decrease over time.     

基于CAN总线的移动机器人通信系统设计

近年来,对移动机器人的研究已成为热点,尤其是对移动机器人数据通信系统的研究。由于CAN总线技术具有网络功能,因此本文利用CAN总线构建了一个移动机器人的数据通信系统,使得机器人内部可以灵活地挂接多个功能模块。本文所设计的移动机器人具有动作模块、语音交互模块、避障与导航模块等。实验表明利用CAN总线技术可以提升移动机器人数据通信的可靠性和可扩展性。     

基于SERCOS的工业机器人控制器设计

文章介绍了一种多用途的开放型机器人控制器,它用SERCOS作为多轴运动的低层运动控制通讯协议,DSP为运动学计算辅助手段,还简介了此种轻型机器人系统的软硬件结构,各功能模块及相互作用,和完成多任务的数据结构。     

The integration of dissimilar control architectures for mobile robot applications

This article discusses a dual architecture for autonomous mobile robots. The implementation application is an autonomous visual inspection system for waste stored in drums. We discuss the three main architectures commonly implemented on mobile robots. The various modules needed for the successful operation of a mobile robot are analyzed, and software and hardware requirements for each modules are noted. We make arguments as to which architecture is best suited for each component. From the results of this analysis, we propose a new dual architecture for autonomous mobile robots. Rather than developing a single hybrid architecture that has qualities of both behavioral and functional architectures, we have taken an approach that involves the integration of two distinct architectures. Next, we detail the implementation of the architecture of the robot, and the advantages of our architecture as it pertains to the integration of system components. System performance in the testing environment is discussed. © 1997 John Wiley & Sons, Inc.     

Human-assistance robotic system based on distributed computing technology

Population aging is becoming an increasingly pressing problem for society. Thus, the timely development of supporting systems to improve care cost and the quality of life of the elderly is becoming particularly important. Because of the dispersal of the elderly and disabled, a standard software architecture that can implement network-distributed software sharing and improve the cost of writing and maintaining software is in high demand. This paper proposes using distributing computing technology CORBA to integrate network-distributed software and robotic systems for supporting the aged or disabled. Using CORBA as a communication architecture, we implemented a networkdistributed human-assistance robotic system. We developed a hardware base including a robot arm and an omnidirectional mobile robot, developed key technologies such as localization of a mobile robot, real-time recognition, real-time multimedia, and implemented several CORBA servers including a Web user management server, a task-level robot arm control server, a live image and video feedback server, a mobile robot control server, and an indoor Global Positioning System server. With the user controlling a robot arm with 5 d.o.f. to cooperate with an omnidirectional mobile robot, the developed system can provide basic services to support the aged and disabled.     

Walk on the wild side [modular robot motion]

Designers of the PolyBot robot system solve the challenges of locomotion by mimicking locomotion in the animal world. PolyBot is a robot system made of many repeated simple modules. These modules can be connected together to form a variety of shapes to form a new system enabling a variety of functionalities.     

基于达芬奇的移动机器人开发平台设计

针对传统移动机器人的实时性差和扩展性差的局限性,在达芬奇技术的基础上,通过裁减定制,去除冗余的功能,设计了一种移动机器人的开发平台。该机器人系统包括移动机器人需要的视觉系统,并有丰富的运动控制接口以及驱动模块。同时,设计了多传感器融合、无线网络通信、路径规划、运动控制、人机界面等移动机器人的测试软件和应用模块。该移动机器人平台也具有模块化、硬件体积小、功耗低、可移植、可扩展、实时性强等优点。     

Multi-robot-based intelligent security system

This article describes a multiple security module-based intelligent security system that has multiple communication interfaces which can be applied in home automation. The interfaces of the intelligent security system contain wired RS485, wireless RF, and Internet. The detection modules of the system have both active and passive security modules. The passive security modules contain wired security modules and wireless security modules. The control unit of all security modules is a HOLTEK microchip. Each security module has two different interfaces. They use voice modules to alarm users of an event, and to transmit real-time event signals to the supervising computer via the wired RS485 or wireless RF interface. If an event occurs, the supervising computer calculates its belief values using Dempster-Shafter evidence theory according to the passive wired and wireless security modules. If the belief value is over a set threshold, the supervising computer commands the mobile robot to move to the event location, and receives a signal from the mobile robot via the wireless RF interface. The supervising computer recognizes the final decision output using Dempster-Shafter evidence theory, and displays the detection and decision output values on the monitor of the user interface. Finally, we present some experimental results using wired passive security modules, wireless passive security modules, and active security modules for fire detection and gas leakage detection using the experimental platform of the intelligent security system.