Robotics Research Lab

Artos

Autonomous Robot for Transport and Service

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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Technical Data

length55 cm
Width33 cm
Height26 cm
Weightca. 25 kg
Payloadca. 50 kg
Power2 12V lead batteries with 10Ah
Operation Timeapprox. 2h
DriveDifferential drive with 2 Faulhaber 2657WO24CR motors
Wheels2 active on centered axis, 2 passive at front and rear
Max. speed50 cm/s
Max. acceleration25 cm/sq.s
Motor ControlMotorola DSP 56F803
ComputerIntel Core2Solo, CAN Interface
MultimediaSpeakers, microphone, serial display, TTS
CameraAxis PTZ
Operating SystemGentoo Linux, Kernel 2.6.21.5

List of Publications

Sort by: Author, Year, Title

  • Safe and Cost-Efficient Mobile Robot Navigation in Aware Environments.
    Michael Arndt
    (2016)
    http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:386-kluedo-45188
  • Safe Predictive Mobile Robot Navigation in Aware Environments.
    Michael Arndt and Karsten Berns
    Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015), Vol. 2, S. 15 - 23. (2015)
  • A Survey of Human Location Estimation in a Home Environment.
    Syed Mehdi and Karsten Berns
    23rd IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2014), (2014)
  • Autonomous Determination of Locations for Observing Home Environment using a Mobile Robot.
    Syed Mehdi and Karsten Berns
    13th International Conference on Intelligent Autonomous Systems (IAS-13), (2014)
  • Behavior-based search of human by an autonomous indoor mobile robot in simulation.
    Syed Mehdi and Karsten Berns
    Universal Access in the Information Society, Vol. 13, Nr. 1, S. 45 - 58. (2014)
  • LiFe-Support. An Environment to Get Live Feedback During Emergency Scenarios.
    Syed Mehdi, Shah Humayoun and Karsten Berns
    Proceedings of the 8th Nordic Conference on Human-Computer Interaction, S. 935 - 938. (2014)
  • Life-Long Learning of Daily Human Routine in Home Environments.
    Syed Mehdi and Karsten Berns
    Workshop on Long Term Autonomy, IEEE International Conference on Robotics and Automation (ICRA 2014), (2014)
  • On the Benefits of Component-Defined Real-Time Visualization of Robotics Software.
    Max Reichardt, Gregor Zolynski, Michael Arndt and Karsten Berns
    4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014) , Vol. 8810, S. 376 - 387. (2014)
  • Pro-Active Search of Elderly at Home by an Autonomous Mobile Robot.
    Syed Mehdi and Karsten Berns
    Medical and Service Robotics (MESROB 2014) , (2014)
  • Risk-Reduced Mobile Robot Path Planning in Smart Environments.
    Michael Arndt and Karsten Berns
    Proceedings for the joint conference of ISR 2014 and ROBOTIK 2014, S. 582 - 589. (2014)
  • Using the Human Daily Routine for Optimizing Search Processes using a Service Robot in Elderly Care Applications.
    Syed Mehdi
    RRLab Dissertations, (2014)
    http://www.dr.hut-verlag.de/978-3-8439-1789-6.html ISBN-13: 978-3-8439-1789-6
  • Using the Human Daily Routine for Optimizing Search Processes using a Service Robot in Elderly Care Applications.
    Syed Mehdi
    (2014)
    http://www.dr.hut-verlag.de/978-3-8439-1789-6.html
  • Performance evaluation of ambient services by combining robotic frameworks and a smart environment platform .
    Michael Arndt, Sebastian Wille, Luiza Souza, Vítor Rey, Norbert Wehn and Karsten Berns
    Robotics and Autonomous Systems , Vol. 61, Nr. 11, S. 1173 - 1185. (2013)
  • Optimized Mobile Indoor Robot Navigation through probabilistic Tracking of People in a Wireless Sensor Network.
    Michael Arndt and Karsten Berns
    Proceedings of the 7th German Conference on Robotics (Robotik 2012), S. 355 - 360. (2012)
  • A Simulated Environment for Elderly Care Robot.
    Syed Mehdi, Jens Wettach and Karsten Berns
    Pervasive and Embedded Computing and Communication Systems (PECCS), S. 562 - 567. (2011)
  • Development of a Simulated Environment for Human-Robot Interaction.
    Jochen Hirth, Syed Mehdi, Norbert Schmitz and Karsten Berns
    Indonesian Journal of Electrical Engineering - Special Section on Robotics, Vol. 9, Nr. 3, S. 465 - 472. (2011)
  • Probabilistic Search of Human by Autonomous Mobile Robot.
    Syed Mehdi and Karsten Berns
    4th International Conference on PErvasive Technologies Related to Assistive Environments, (2011)
  • Using an Autonomous Robot to Maintain Privacy in Assistive Environments.
    Christopher Armbrust, Syed Mehdi, Max Reichardt, Jan Koch and Karsten Berns
    Security and Communications Networks, Vol. 4, Nr. 11, S. 1275 - 1293. (2011)
  • Behaviour Based Searching of human using MDP.
    Syed Mehdi and Karsten Berns
    The European Conference on Cognitive Ergonomics (ECCE 2010), Nr. ISBN: 978-94-90818-04-3, S. 349 - 350. (2010)
  • Ordering of Robotic Navigational Tasks in Home Environment.
    Syed Mehdi and Karsten Berns
    Trends in Intelligent Robotics, Vol. 103, S. 242 - 249. (2010)
  • Use of an Autonomous Mobile Robot for Elderly Care.
    Karsten Berns and Syed Mehdi
    Advanced Technologies for Enhancing Quality of Life, S. 121 - 126. (2010)
  • Methodology for Robot Mapping and Navigation in Assisted Living Environments.
    Syed Mehdi, Christopher Armbrust, Jan Koch and Karsten Berns
    PETRA ’09, (2009)
  • Improvement of the Mapping and Navigation Systems of the AMR ARTOS.
    Christopher Armbrust
    (2008)
  • Small Service Robots for Assisted Living Environments.
    Jan Koch, Christopher Armbrust and Karsten Berns
    VDI/VDE Fachtagung Robotik, (2008)
  • Universal Web Interfaces for Robot Control Frameworks.
    Jan Koch, Max Reichardt and Karsten Berns
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2008)
  • A Behaviour-Based Drive and Anti-Collision System for an Autonomous Mobile Robot.
    Christopher Armbrust
    (2007)
  • Dynamic Speech Interaction for Robotic Agents.
    J Koch, H Jung, J Wettach, G Nemeth and K Berns
    Recent Progress in Robotics, Vol. 370, S. 303 - 315. (2007)
  • Mobile Robot Navigation Support in Living Environments.
    Christopher Armbrust, Jan Koch, Ulf Stocker and Karsten Berns
    20. Fachgespräch Autonome Mobile Systeme (AMS), S. 341 - 346. (2007)
  • Mobile Robot Navigation Using Dynamic Maps and a Behaviour-Based Anti-Collision System.
    Christopher Armbrust
    (2007)

 

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