M. Görner, Fabian Benedikt, Ferdinand Grimmel, T. Hulin
{"title":"用于室内运输和移动操作的新型架空机器人系统","authors":"M. Görner, Fabian Benedikt, Ferdinand Grimmel, T. Hulin","doi":"10.1109/ICRA40945.2020.9196972","DOIUrl":null,"url":null,"abstract":"SwarmRail represents a novel solution to overhead manipulation from a mobile unit that drives in an aboveground rail-structure. The concept is based on the combination of omnidirectional mobile platform and L-shaped rail profiles that form a through-going central gap. This gap makes possible mounting a robotic manipulator arm overhead at the underside of the mobile platform. Compared to existing solutions, SwarmRail enables continuous overhead manipulation while traversing rail crossings. It also can be operated in a robot swarm, as it allows for concurrent operation of a group of mobile SwarmRail units inside a single rail network. Experiments on a first functional demonstrator confirm the functional capability of the concept. Potential fields of applications reach from industry over logistics to vertical farming.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":"17 1","pages":"5905-5911"},"PeriodicalIF":0.0000,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation\",\"authors\":\"M. Görner, Fabian Benedikt, Ferdinand Grimmel, T. Hulin\",\"doi\":\"10.1109/ICRA40945.2020.9196972\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"SwarmRail represents a novel solution to overhead manipulation from a mobile unit that drives in an aboveground rail-structure. The concept is based on the combination of omnidirectional mobile platform and L-shaped rail profiles that form a through-going central gap. This gap makes possible mounting a robotic manipulator arm overhead at the underside of the mobile platform. Compared to existing solutions, SwarmRail enables continuous overhead manipulation while traversing rail crossings. It also can be operated in a robot swarm, as it allows for concurrent operation of a group of mobile SwarmRail units inside a single rail network. Experiments on a first functional demonstrator confirm the functional capability of the concept. Potential fields of applications reach from industry over logistics to vertical farming.\",\"PeriodicalId\":6859,\"journal\":{\"name\":\"2020 IEEE International Conference on Robotics and Automation (ICRA)\",\"volume\":\"17 1\",\"pages\":\"5905-5911\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 IEEE International Conference on Robotics and Automation (ICRA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICRA40945.2020.9196972\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE International Conference on Robotics and Automation (ICRA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA40945.2020.9196972","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation
SwarmRail represents a novel solution to overhead manipulation from a mobile unit that drives in an aboveground rail-structure. The concept is based on the combination of omnidirectional mobile platform and L-shaped rail profiles that form a through-going central gap. This gap makes possible mounting a robotic manipulator arm overhead at the underside of the mobile platform. Compared to existing solutions, SwarmRail enables continuous overhead manipulation while traversing rail crossings. It also can be operated in a robot swarm, as it allows for concurrent operation of a group of mobile SwarmRail units inside a single rail network. Experiments on a first functional demonstrator confirm the functional capability of the concept. Potential fields of applications reach from industry over logistics to vertical farming.
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