HeterBot: A heterogeneous mobile manipulation robot for versatile operation

IF 1.5 Q3 AUTOMATION & CONTROL SYSTEMS

IET Cybersystems and Robotics Pub Date : 2022-11-03 DOI:10.1049/csy2.12068

Linqi Ye, Jiatai Guo, Jiayi Li, Houde Liu, Xueqian Wang, Bin Liang

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引用次数: 1

Abstract

This study presents the overall architecture of HeterBot, a heterogeneous mobile manipulation robot developed in our lab, which is designed for versatile operation in hazardous environments. The most significant feature of HeterBot is the heterogeneous design created by adopting the idea of ‘big arm + small arm’ and ‘big car + mini car’. This combination has the advantage of functional complementation, which achieves performance promotion in both locomotion and manipulation capabilities, making HeterBot distinguished from other mobile manipulation robots. Besides, multiple novel technologies are integrated into HeterBot to expand its versatility and ease of use, including Virtual Robot Experimentation Platform-based teleoperation, reconfigurable end effectors, laser-aided grasping, and manipulation with customised tools. Experimental results validate the effectiveness of HeterBot in various locomotion and manipulation tasks. HeterBot displays huge potential in future applications, such as searching and rescue.

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HeterBot：一种用于多功能操作的异构移动操作机器人

本研究介绍了我们实验室开发的异构移动操作机器人HeterBot的整体架构，该机器人设计用于在危险环境中进行多种操作。HeterBot最大的特点是采用“大臂+小臂”、“大车+迷你车”的思路，实现了异构设计。这种组合具有功能互补的优势，在运动和操作能力上都实现了性能提升，使HeterBot区别于其他移动操作机器人。此外，多种新技术集成到HeterBot中，以扩展其多功能性和易用性，包括基于虚拟机器人实验平台的远程操作，可重构末端执行器，激光辅助抓取和定制工具操作。实验结果验证了HeterBot在各种运动和操作任务中的有效性。HeterBot在未来的应用中显示出巨大的潜力，比如搜索和救援。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IET Cybersystems and Robotics Computer Science-Information Systems

CiteScore

3.70

自引率

0.00%

发文量

审稿时长

34 weeks