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引用次数: 0
摘要
本文介绍了美国哈特福德大学(University of Hartford)辅助机器人团队(ART)自2018年以来设计和制造的移动运输机器人i-Explore的发展情况。i-Explore的主要目标是在室内环境中帮助和携带有严重身体残疾的儿童，特别是在家庭使用中。本文首先描述了以快速反应性和低成本制造为主要技术设计要求的i-Explore的机械设计和制造过程。然后，描述了移动机器人的运动学分析及其在底层本体控制器中的实现。最后，i-Explore在清洁和混乱的工作空间中进行了测试和评估，其半自动运动是为机器人在以人为中心的环境中导航而设计的。
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.
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