Comparing different holonomic mobile robots

El-Shenawy, Ahmed; Wellenreuther, A.; Baumgart, André; Badreddin, Essameddin

doi:10.1109/icsmc.2007.4413934

Cited by 18 publications

(4 citation statements)

References 6 publications

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“…• Holonomic Mobile Base: Inspired by the design in [34] and mobility in [35], the base has three actuators for generating linear and angular velocities as well as orient the upper body of the robot, measuring 480 mm in diameter and 203 mm in height. • Spherical Projection Head: To maximize flexibility and minimize cost, Quori's head consists of a retro-projected animated face (RAF) using a portable projector, a lens (or mirror), and a projection surface.…”

Section: A Hardware and System Reviewmentioning

confidence: 99%

Deployment of a Socially Assistive Robot for Assessment of COVID-19 Symptoms and Exposure at an Elder Care Setting

Mucchiani

Cacchione

Johnson

et al. 2021

2021 30th IEEE International Conference on Robot &Amp; Human Interactive Communication (RO-MAN)

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This work investigates the deployment of an affordable socially assistive robot (SAR) at an older adult day care setting for the screening of COVID-19 symptoms and exposure. Despite the focus on older adults, other stakeholders (clinicians and caregivers) were included in the study due to the need for daily COVID-19 screening. The investigation considered which aspects of human-robot-interaction (HRI) are relevant when designing social agents for patient screening. The implementation was based upon the current screening procedure adopted by the deployment facility, and translated into robot dialogues and gesturing motion. Post-interaction surveys with participants informed their preferences for the type of interaction and system usability. Observer surveys evaluated users' reaction, verbal and physical engagement. Results indicated general acceptance of the social agent and possible improvements to the current version of the robot to encourage a broader adoption by the stakeholders.

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Section: A Hardware and System Reviewmentioning

confidence: 99%

Deployment of a Socially Assistive Robot for Assessment of COVID-19 Symptoms and Exposure at an Elder Care Setting

Mucchiani

Cacchione

Johnson

et al. 2021

2021 30th IEEE International Conference on Robot &Amp; Human Interactive Communication (RO-MAN)

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“…Kinematic elements are defined as "joints", "struts" or "links", "base", and "tool". The number of kinematic elements can be used as a measure of complexity of a kinematic set-up (El-Shenawy A et al, 2007).…”

Section: Number Of Kinematic Elementsmentioning

confidence: 99%

Comparative Study of Robot-Designs for a Handheld Medical Robot

Pott¹,

Schwarz²,

Wagner³

et al. 2008

Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics Service

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Robotic systems are used within a great variety of medical disciplines. A handheld robot promises a number of advantages compared to conventional (medical) robots but this approach leads to strict specifications regarding size, weight and dynamic properties. A new hybrid kinematics-the Epizactor-seems to be advantageous and is compared to two well-known parallel kinematics regarding the ratio of workspace and volume the number of kinematic elements, the cost of computation, the stiffness the effects of clearance, actuation (weight), and accuracy using a well-described industrial method for comparison. It becomes clear that the Epizactor has advantages concerning the ratio of workspace and volume, needs a smaller number of kinematic elements and fewer computations, and has less than half the mass than the parallel kinematics. Its accuracy, stiffness and the effects of clearance are comparable. The advantages of this new kinematic setup lead to a first deployment within the field of medical robotics.

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“…Different approaches have been made through the last few years. The possible drivetrains were analysed and compared to each other in the literature several times [1,2].…”

Section: Introductionmentioning

confidence: 99%

Modelling and simulation of the drivetrain of an omnidirectional mobile robot

Raj

Czmerk

2017

Automatika

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The main contribution of this paper is to present the state-space model of an omnidirectional drivetrain (Kiwi drive) for mobile robots. Holonomy or omnidirectional movement of mobile robots is important in applications where navigation through tight space is required. Besides the already available literature regarding either dynamic or kinematic models, this paper presents the complex analysis of a mechatronic system and shows a coherent model that takes into account both the kinematics and the dynamics of a coupled electromechanical system. The model was developed based on two holonomic mobile robots: the Festo Robotino Ò and the MOGI Ethon. A simulation software developed by the authors is also presented for numerical evaluation of the model. The simulation results qualitatively confirm the model by fulfilling the empirical requirements. Both the model and the simulation software are expandable in order to improve the accuracy of the model describing actual mobile robots. Compared to other models which are based only on the kinematics of the Kiwi drivetrain, in accordance to one's technical instinct, the presented model shows that there is a cross effect between the motors of the drivetrain, where the motors affect each other.

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Comparing different holonomic mobile robots

Cited by 18 publications

References 6 publications

Deployment of a Socially Assistive Robot for Assessment of COVID-19 Symptoms and Exposure at an Elder Care Setting

Deployment of a Socially Assistive Robot for Assessment of COVID-19 Symptoms and Exposure at an Elder Care Setting

Comparative Study of Robot-Designs for a Handheld Medical Robot

Modelling and simulation of the drivetrain of an omnidirectional mobile robot

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