AMiRo: A modular &amp; customizable open-source mini robot platform

Herbrechtsmeier, Stefan; Korthals, Timo; Schöpping, Thomas; Rückert, Ulrich

doi:10.1109/icstcc.2016.7790746

Cited by 20 publications

(12 citation statements)

References 10 publications

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“…Cloud computing principles, especially for robotics [30,37] (e.g., neural network applications [29]), will be evaluated with the DAEbot. The DAEbot will also be used in a multirobot network [38] (e.g., alongside the AMiRo (Autonomous Mini Robot) [1]) to test the multilayer robot cooperation capabilities of the presented architecture. These future experiments will refine the proposed modular architecture for distributed robotic systems.…”

Section: Discussionmentioning

confidence: 99%

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Concepts of a Modular System Architecture for Distributed Robotic Systems

2019

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Modern robots often use more than one processing unit to solve the requirements in robotics. Robots are frequently designed in a modular manner to fulfill the possibility to be extended for future tasks. The use of multiple processing units leads to a distributed system within one single robot. Therefore, the system architecture is even more important than in single-computer robots. The presented concept of a modular and distributed system architecture was designed for robotic systems. The architecture is based on the Operator-Controller Module (OCM). This article describes the adaption of the distributed OCM for mobile robots considering the requirements on such robots, including, for example, real-time and safety constraints. The presented architecture splits the system hierarchically into a three-layer structure of controllers and operators. The controllers interact directly with all sensors and actuators within the system. For that reason, hard real-time constraints need to comply. The reflective operator, however, processes the information of the controllers, which can be done by model-based principles using state machines. The cognitive operator is used to optimize the system. The article also shows the exemplary design of the DAEbot, a self-developed robot, and discusses the experience of applying these concepts on this robot.

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Section: Discussionmentioning

confidence: 99%

“…Multiple SBCs or microcontrollers are combined to a distributed system to obtain more computing power or better dependability. Furthermore, modular mobile robots like the AMiRo (Autonomous Mini Robot) [1] have been released. These modular robots can be extended easily and mostly use multiple processing units.…”

Section: Introductionmentioning

confidence: 99%

Concepts of a Modular System Architecture for Distributed Robotic Systems

2019

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“…Customizable robotic systems have been developed for a wide range of purposes, including dental procedures [28], mini-robot platforms [29], and disinfection [30]. Past efforts to develop low-cost social robotic platforms include EMAR V4 [31], Huggable [32], Dragonbot [33], TOFU [34], YOLO [20], and Romibo [35].…”

Section: Customizable Technologiesmentioning

confidence: 99%

FLEXI: A Robust and Flexible Social Robot Embodiment Kit

Alves‐Oliveira

Bavier

Malandkar

et al. 2022

Designing Interactive Systems Conference

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The social robotics market is appealing yet challenging. Though social robots are built few remain on the market for long. Many reasons account for their short lifespan with costs and contextspecificity ranking high amount them. In this work, we designed, fabricated, and developed FLEXI, a social robot embodiment kit that enabled unlimited customization, making it applicable for a broad range of use cases. The hardware and software of FLEXI were entirely developed by this research team from scratch. FLEXI includes a rich set of materials and attachment pieces to allow for a diverse range of hardware customizations that ensure the embodiment is appropriate for specific customer/researcher projects. It also includes an open-source end-user programming interface to lower the barrier of robotics access to interdisciplinary teams that populate the field of Human-Robot Interaction. We present an iterative development of this cost-effective kit through the lenses of case studies, conceptual research, and soft deployment of FLEXI in three application scenarios: community-support, mental health, and education. Additionally, we provide in openaccess the full list of materials and a tutorial to fabricate FLEXI, making it accessible to any maker space, research lab, or workshop space interested in working with or learning about social robots.

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“…Existing libraries and frameworks offered by different researchers in [8], [9], [10] and [11] do not allow dynamic reconfiguration. Of particular interest is the approach implemented in the framework of EmsBoT [12], which proposes the creation of an abstraction layer over the real-time OS.…”

Section: The Use Of Framework and Standard Librariesmentioning

confidence: 99%

Organizing Network Interaction in Modular Robot with Multilevel Control System

Andreev¹,

Pletenev²

2019

DAAAM Proceedings

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The features of network communication in mobile modular robots with multilevel control system (CS) are considered both inside single layer and between multiple layers. Modular architecture enables implementation of rapid reconfiguration of robotic systems. Most of modern systems are built as one pieceall data streams come to a single powerful onboard computer, which implements the major part of control system. Hierarchical division on modules and submodules with their own CS enables lowering computational load on central parts of control systems via distributing calculations between them, abstracting and fusing data. Implementing such multilevel modular control system places restrictions on the possible means of communication between modules and submodules. In this paper, communicational bonds in a modular robot are being considered and parameters of emerging information flows are being analyzed. Based on this, the requirements for the types of networks and their topologies are presented.

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AMiRo: A modular & customizable open-source mini robot platform

Cited by 20 publications

References 10 publications

Concepts of a Modular System Architecture for Distributed Robotic Systems

Concepts of a Modular System Architecture for Distributed Robotic Systems

FLEXI: A Robust and Flexible Social Robot Embodiment Kit

Organizing Network Interaction in Modular Robot with Multilevel Control System

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