TY - GEN
T1 - A robot system design for low-cost multi-robot manipulation
AU - McLurkin, James
AU - McMullen, Adam
AU - Robbins, Nick
AU - Habibi, Golnaz
AU - Becker, Aaron
AU - Chou, Alvin
AU - Li, Hao
AU - John, Meagan
AU - Okeke, Nnena
AU - Rykowski, Joshua Brandon
AU - Kim, Sunny
AU - Xie, William
AU - Vaughn, Taylor
AU - Zhou, Yu
AU - Shen, Jennifer
AU - Chen, Nelson
AU - Kaseman, Quillan
AU - Langford, Lindsay
AU - Hunt, Jeremy
AU - Boone, Amanda
AU - Koch, Kevin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - Multi-robot manipulation allows for scalable environmental interaction, which is critical for multi-robot systems to have an impact on our world. A successful manipulation model requires cost-effective robots, robust hardware, and proper system feedback and control. This paper details key sensing and manipulator capabilities of the r-one robot. The r-one robot is an advanced, open source, low-cost platform for multi-robot manipulation and sensing that meets all of these requirements. The parts cost is around $250 per robot. The r-one has a rich sensor suite, including a flexible IR communication/localization/obstacle detection system, high-precision quadrature encoders, gyroscope, accelerometer, integrated bump sensor, and light sensors. Two years of working with these robots inspired the development of an external manipulator that gives the robots the ability to interact with their environment. This paper presents an overview of the r-one, the r-one manipulator, and basic manipulation experiments to illustrate the efficacy our design. The advanced design, low cost, and small size can support university research with large populations of robots and multi-robot curriculum in computer science, electrical engineering, and mechanical engineering. We conclude with remarks on the future implementation of the manipulators and expected work to follow.
AB - Multi-robot manipulation allows for scalable environmental interaction, which is critical for multi-robot systems to have an impact on our world. A successful manipulation model requires cost-effective robots, robust hardware, and proper system feedback and control. This paper details key sensing and manipulator capabilities of the r-one robot. The r-one robot is an advanced, open source, low-cost platform for multi-robot manipulation and sensing that meets all of these requirements. The parts cost is around $250 per robot. The r-one has a rich sensor suite, including a flexible IR communication/localization/obstacle detection system, high-precision quadrature encoders, gyroscope, accelerometer, integrated bump sensor, and light sensors. Two years of working with these robots inspired the development of an external manipulator that gives the robots the ability to interact with their environment. This paper presents an overview of the r-one, the r-one manipulator, and basic manipulation experiments to illustrate the efficacy our design. The advanced design, low cost, and small size can support university research with large populations of robots and multi-robot curriculum in computer science, electrical engineering, and mechanical engineering. We conclude with remarks on the future implementation of the manipulators and expected work to follow.
UR - http://www.scopus.com/inward/record.url?scp=84911499101&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911499101&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942668
DO - 10.1109/IROS.2014.6942668
M3 - Conference contribution
AN - SCOPUS:84911499101
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 912
EP - 918
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -