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Modular home robot system based on the MMM concept-design instance with detachable symmetric arm module | IEEE Conference Publication | IEEE Xplore

Modular home robot system based on the MMM concept-design instance with detachable symmetric arm module


Abstract:

A design concept for domestic robots is presented based on three fundaments: Multitasking, Minimization and Modularization. A prototype design with multitask capability i...Show More

Abstract:

A design concept for domestic robots is presented based on three fundaments: Multitasking, Minimization and Modularization. A prototype design with multitask capability is presented within a minimalistic design framework. This is achieved by focusing on a specific subclass of tasks scenarios executable within specific household environment. While minimalism design addresses cost reduction, it inevitably restricts the multitask capability. Modularization helps achieving a tradeoff. As an example, we introduce a mobile-base domestic robot with fully symmetrical and lightweight modular arm design. The manipulator arm has the capability to reconfigure itself by detaching/attaching one of the end-links from/to different locations. Preliminary experiments are described (see also the attached video clip) and an application scenario for accessing high locations (e.g. on a tall bookshelf) is outlined.
Date of Conference: 09-12 July 2013
Date Added to IEEE Xplore: 04 November 2013
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Conference Location: Wollongong, NSW, Australia

References

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