sTetro: A Modular Reconfigurable Cleaning Robot

Shi, Yuyao; Elara, Mohan Rajesh; Kalimuthu, Manivannan; Devarassu, Manojkumar

doi:10.1109/remar.2018.8449883

Cited by 12 publications

(15 citation statements)

References 11 publications

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“…The sequence of sensing and control actions enables the sTetro robot to reconfigure itself and move forward, left/right wards and upwards. In the previous prototype [28], motion and reconfiguration actions were controlled by a human operator by sending control commands through a remote control, but in the current version, we have automated most of these actions. Different sensors are installed to accomplish the self-reconfiguration and locomotion task.…”

Section: Control Of Stetromentioning

confidence: 99%

“…Any asynchronization of three blocks will cause it to deviate from the original orientation. The mathematical modelling and simulated response were done in [28]. The block diagram of the control system is shown in Figure 7 Therefore, the proportional gain is 20.78, the integral gain is 0.057728, and the derivative gain is 161.63.…”

Section: Pid Controlmentioning

confidence: 99%

“…(b). The overall transfer function of the system is given as (complete derivation of the transfer function is given in[28]) Φ s E 2 s − E 1 s = r y 2K bR + KK b J w R/ bR + KK b s + 1 s 8Substitute the constants into the equation, By using SISOTOOL in MATLAB, the simulation of the step and impulse response are shown in the figures below with corresponding bode diagram and values of gains. The optimized transfer function of the controller is found as…”

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confidence: 99%

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Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot

et al. 2018

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The mechanical, electrical, and autonomy aspects of designing a novel, modular, and reconfigurable cleaning robot, dubbed as sTetro (stair Tetro), are presented. The developed robotic platform uses a vertical conveyor mechanism to reconfigure itself and is capable of navigating over flat surfaces as well as staircases, thus significantly extending the automated cleaning capabilities as compared to conventional home cleaning robots. The mechanical design and system architecture are introduced first, followed by a detailed description of system modelling and controller design efforts in sTetro. An autonomy algorithm is also proposed for self-reconfiguration, locomotion, and autonomous navigation of sTetro in the controlled environment, for example, in homes/offices with a flat floor and a straight staircase. A staircase recognition algorithm is presented to distinguish between the surrounding environment and the stairs. The misalignment detection technique of the robot with a front staircase riser is also given, and a feedback from the IMU sensor for misalignment corrective measures is provided. The experiments performed with the sTetro robot demonstrated the efficacy and validity of the developed system models, control, and autonomy approaches.

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Section: Control Of Stetromentioning

confidence: 99%

Section: Pid Controlmentioning

confidence: 99%

mentioning

confidence: 99%

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Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot

et al. 2018

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“…The wheels were used to provide the necessary locomotion. Tarantula is a manually reconfigurable robot (Figure 3) unlike the family of self-reconfigurable cleaning robots [32][33][34][35][36] Figure 3 shows the trunk where the four legs were attached to it. Note that the trunk body has Uand V-cross-sections.…”

Section: Mechanical Layoutmentioning

confidence: 99%

Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

et al. 2018

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This paper firstly presents the design and modeling of a quadruped wheeled robot named Tarantula. It has four legs each having four degrees of freedom with a proximal end attached to the trunk and the wheels for locomotion connected at the distal end. The two legs in the front and two at the back are actuated using two motors which are placed inside the trunk for simultaneous abduction or adduction. It is designed to manually reconfigure its topology as per the cross-sections of the drainage system. The bi-directional suspension system is designed using a single damper to prevent the trunk and inside components from shock. Formulation for kinematics of the wheels that is coupled with the kinematics of each leg is presented. We proposed the cost-effective method which is also an on-site approach to estimate the kinematic parameters and the effective trunk dimension after assembly of the quadruped robot using the monocular camera and ArUco markers instead of high-end devices like a laser tracker or coordinate measurement machine. The measurement technique is evaluated experimentally and the same set up was used for trajectory tracking of the Tarantula. The experimental method for the kinematic identification presented here can be easily extended to the other mobile robots with serial architecture designed legs.

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“…Stair-climbing is a key function to satisfy the requirements mentioned in Table 1. Although many scholars proposed a variety of applications of stair-climbing robots in reconnaissance [10,11], emergency [12,13], corridor cleaning [14,15], etc., these robots were designed without considering the capability of stair-climbing with goods. Hence, all of them cannot be applied to unattended delivery.…”

Section: Introductionmentioning

confidence: 99%

A Robot with Decoupled Mechanical Structure and Adapted State Machine Control for Both Ground and Staircase Situations

Wen

Yang

et al. 2019

Applied Sciences

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The rapid development of e-commerce makes the last-mile problem more and more prominent. To meet the requirements of such a scenario, this paper proposes a robot with a decoupled mechanical structure. Such a hexapod robot is divided into a chassis frame with a pair of auxiliary wheel-legs for horizontal movement, a tetrapod for vertical movement, and a slide-and-rail mechanism to connect the former two parts. Such a structure is simple and, thus, cost-efficient; by managing the horizontal and vertical movements, such a robot can keep the balance and safety of the load in the various operation environments, such as roads, staircases, and even indoor ones. Meanwhile, a state-machine-based controller, which adapts well to the unique structure of the proposed robot, is also proposed, simplifying the sequential control of the robot. A prototype robot with 30-kg load ability was built, and the experimental results prove the validity of the design.

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sTetro: A Modular Reconfigurable Cleaning Robot

Cited by 12 publications

References 11 publications

Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot

Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot

Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

A Robot with Decoupled Mechanical Structure and Adapted State Machine Control for Both Ground and Staircase Situations

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