champ: a bespoke integrated system for mobile manipulation
DESCRIPTION
RobMech/PRASA/Aflat conference paper - presented 28 November 2014.TRANSCRIPT
ContentsCHAMP: a Bespoke Integrated
System for Mobile
Manipulation
Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho,
Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik
Mobile Intelligent Autonomous Systems (MIAS)
Modelling and Digital Science (MDS)
Council for Scientific and Industrial Research (CSIR)
South Africa
RobMech/PRASA/Aflat conference - 28 November 2014
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Content
• Introduction
• Examples of mobile manipulators
• System integration
• Hardware integration
• Software integration
• Conclusion
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Introduction
• Why Mobile Manipulators?– Healthcare and rehabilitation
– Search and rescue
– Assistant living
• Why integration?– Decrease in hardware and sensor cost
– Commercially available systems
– Customised
– Capability in system integration
• What were our requirements?– Available resources
– Research in robotics
– Increased flexibility
Shakey – Stanford Research Institute. (1966 – 1972)
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Examples of Mobile Manipulators
1. Complete off-the-shelf mobile manipulators
2. Custom build systems – not commercially available
3. Bespoke platforms assembled from other robots
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Examples of Mobile Manipulators
1. Complete off-the-shelf mobile manipulators
PR2 – Willow Garage UBR1 – Unbounded Robotics KUKA youBot Care-O-Bot – Fraunhofer IPA
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Examples of Mobile Manipulators
2. Custom build systems – not commercially available
ARMAR-III – Karlsruhe Institute of Technology
WENDY – Waseda University (TWENDY-ONE) Ubot-5 – UMass Amherst
Robonaut - NASA
Golem Krang – Georgia Institute of Technology
Rollin’ Justin - DLR
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Examples of Mobile Manipulators
3. Bespoke platforms assembled from other robots.
UMAN – Umass
TUM-Rosie – TechnischeUniversitat Munchen
HERB – Carnegie Mellon University
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CHAMP
• CSIR Hybrid Autonomous Mobile Manipulator Platform
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System Integration
• High level overview
Powerbot AGV – Adept MobileRobots
100kg payload
6km/h
Lead-acid batteries – 2,112 watt-hours at
24VDC power
0.9m x 0.66m x 0.48m
24 Sonar transceivers – range sensing
Pressure sensor bumpers
Driven by open-system Advanced Robot
Control and Operation Software (ARCOS).
Client software – Advanced Robotic Interface
for Application (ARIA).
Barrett WAM
7DoF
Light weight, cable driven
No torque – 27W DC required
45W required with torque applied
800W maximum possible draw
2kg payload
Barrett hand – 3 fingers
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System Integration
• Three steps– Individual operation
– Network communication
– Hardware and software
integration
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Hardware Integration
• Hardware integration
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CHAMP
• System overview CHAMP
1m reach
6km/h
Gripper that can lift 2kg
2-3 hours operation time
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Software Integration
• Software integration
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Conclusion
• Future work – Autonomous operation
– Machine learning
– Active vision