Artos: Autonomous Robot for Transport and Service

Contact: Massimo Tosa

Further Information

Description

The mobile robot ARTOS has been created for indoor use in assisted living scenarios. Initially designed for transport tasks some improvements where made for semi-autonomous teleoperation to assess situations and detect emergencies. When providing a proper internet-enabled wireless ethernet connection the robot can be reached over Skype for human-to-human interaction.

ARTOS possesses a tilting mechanism which ensures that the drive wheels and at least one coaster wheel are always on the ground. This mechanism consists of a pivot-mounted plate to which the centered components are attached, The system uses a low-power PC for task management, and high-level control. This has been implemented using the Modular Controller Architecture (MCA), a framework for robot control systems. Drive instructions are passed over CAN-Bus to the signal processors that control the motor speed.

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Veröffentlichungen

@mastersthesis{Klein16,
Author = {Alexander Klein},
Title = {Behavior-Based Cooperation Strategies for Construction Machines},
School = {Robotics Research Lab, University of Kaiserslautern},
Year = {2016},
Type = {Master{\textquoteright}s Thesis},
Address = {Kaiserslautern, Germany},
Month = {December 01},
Note = {unpublished, supervised by Thorsten Ropertz},
}