Mobile Carrying Platform: i-Explore

2020 ◽  
Author(s):  
Kiwon Sohn ◽  
Aurian Emami ◽  
Jaesung Yang
Keyword(s):  
Mobile Robot ◽  
Kinematic Analysis ◽  
Mechanical Design ◽  
Physical Disabilities ◽  
Low Cost ◽  
Indoor Environments ◽  
Technical Design ◽  
Assistive Robot ◽  
Design Requirements ◽  
Low Cost Manufacturing

Abstract This paper presents the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this paper, the mechanical design and building processes of i-Explore which focused on fast reactiveness and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the mobile robot are described. Lastly, i-Explore is tested and evaluated both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.

Re-Sizable Quadrupedal Robot Platform: HARQ

2020 ◽  
Author(s):  
Kiwon Sohn ◽  
Salman Hussain ◽  
Matthew Bradnan ◽  
Owen May
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Work Environments ◽  
Outdoor Environment ◽  
Whole Body ◽  
Simulated Environment ◽  
Assistive Robot ◽  
Design Requirements ◽  
Low Cost Manufacturing ◽  
Robot Platform

Abstract This paper presents the development of kinematically adjustable quadrupedal robot platform, HARQ (Human Assistive and Robust Quadruped) which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2019. The main objective of HARQ is to assist various tasks of human workers in dangerous work environments such as disasters. In this paper, the mechanical design and building processes of HARQ which focused on kinematic adaptivity and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the quadrupedal robot are described. Lastly, HARQ is tested and evaluated both in a simulated environment using its virtual model and in an outdoor environment using the physically built platform with various whole body motions which are designed for the robot’s navigation.

Development of Lower Body for Vehicle Driving Robot, HART

2018 ◽  
Author(s):  
Kiwon Sohn ◽  
Mark Markiewicz ◽  
Stefan Keilich
Keyword(s):  
Low Cost ◽  
Control Input ◽  
Lower Body ◽  
Ground Vehicles ◽  
Vehicle Handling ◽  
Assistive Robot ◽  
Different Types ◽  
Hardware Configuration ◽  
Design Requirements ◽  
Low Cost Manufacturing

This paper presents the development of a lower body for a full-size humanoid platform, HART (Human Assistive RoboT). The design objective of HART is to enable the robot to drive off-the-shelf vehicles in human-centered environments. To accomplish the goal, two technical design requirements which include kinematic adaptation and low-cost manufacturing are addressed and explored in this study. First, the overall hardware configuration and software control architecture of HART are presented. Then, the kinematic and dynamic specification of each joint and its design process are described. The kinematic analysis and motion planning of HART are also provided for the vehicle handling task such as control input manipulation. Last, the built platform is tested and evaluated through experimentations using two different types of ground vehicles.

Mechanical Design of a Low Cost Transhumeral Prosthesis

2017 ◽  
Author(s):  
Luis Arturo Gómez Malagón ◽  
João Luiz Vilar Dias
Keyword(s):  
Mechanical Design ◽  
Low Cost

FUZZY COGNITIVE MAPS EMBEDDED IN A LOW COST AUTONOMOUS MOBILE ROBOT

2019 ◽  
Author(s):  
Márcio Mendonça ◽  
Guilherme Bender Sartori ◽  
Lucas Botoni de Souza ◽  
Giovanni Bruno Marquini Ribeiro
Keyword(s):  
Mobile Robot ◽  
Low Cost ◽  
Cognitive Maps ◽  
Fuzzy Cognitive Maps ◽  
Autonomous Mobile Robot

Low Cost Mobile Robot

1987 ◽  
Author(s):  
John M. Evans
Keyword(s):  
Mobile Robot ◽  
Low Cost

scholarly journals A Low-Cost Assistive Robot for Children with Neurodevelopmental Disorders to Aid in Daily Living Activities

2021 ◽  
Vol 18 (8) ◽  
pp. 3974
Author(s):  
Roberto J. López-Sastre ◽  
Marcos Baptista-Ríos ◽  
Francisco Javier Acevedo-Rodríguez ◽  
Soraya Pacheco-da-Costa ◽  
Saturnino Maldonado-Bascón ◽  
...  
Keyword(s):  
Neurodevelopmental Disorders ◽  
Low Cost ◽  
Children And Youth ◽  
Proof Of Concept ◽  
Robotic Platform ◽  
Assistive Robot ◽  
Technical Details ◽  
The Impact ◽  
Near Future ◽  
Everyday Living

In this paper, we present a new low-cost robotic platform that has been explicitly developed to increase children with neurodevelopmental disorders’ involvement in the environment during everyday living activities. In order to support the children and youth with both the sequencing and learning of everyday living tasks, our robotic platform incorporates a sophisticated online action detection module that is capable of monitoring the acts performed by users. We explain all the technical details that allow many applications to be introduced to support individuals with functional diversity. We present this work as a proof of concept, which will enable an assessment of the impact that the developed technology may have on the collective of children and youth with neurodevelopmental disorders in the near future.

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