ContentsCHAMP: a Bespoke Integrated

System for Mobile

Manipulation

Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho,

Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik

Mobile Intelligent Autonomous Systems (MIAS)

Modelling and Digital Science (MDS)

Council for Scientific and Industrial Research (CSIR)

South Africa

RobMech/PRASA/Aflat conference - 28 November 2014

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Content

• Introduction

• Examples of mobile manipulators

• System integration

• Hardware integration

• Software integration

• Conclusion

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Introduction

• Why Mobile Manipulators?– Healthcare and rehabilitation

– Search and rescue

– Assistant living

• Why integration?– Decrease in hardware and sensor cost

– Commercially available systems

– Customised

– Capability in system integration

• What were our requirements?– Available resources

– Research in robotics

– Increased flexibility

Shakey – Stanford Research Institute. (1966 – 1972)

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Examples of Mobile Manipulators

1. Complete off-the-shelf mobile manipulators

2. Custom build systems – not commercially available

3. Bespoke platforms assembled from other robots

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Examples of Mobile Manipulators

1. Complete off-the-shelf mobile manipulators

PR2 – Willow Garage UBR1 – Unbounded Robotics KUKA youBot Care-O-Bot – Fraunhofer IPA

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Examples of Mobile Manipulators

2. Custom build systems – not commercially available

ARMAR-III – Karlsruhe Institute of Technology

WENDY – Waseda University (TWENDY-ONE) Ubot-5 – UMass Amherst

Robonaut - NASA

Golem Krang – Georgia Institute of Technology

Rollin’ Justin - DLR

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Examples of Mobile Manipulators

3. Bespoke platforms assembled from other robots.

UMAN – Umass

TUM-Rosie – TechnischeUniversitat Munchen

HERB – Carnegie Mellon University

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CHAMP

• CSIR Hybrid Autonomous Mobile Manipulator Platform

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System Integration

• High level overview

Powerbot AGV – Adept MobileRobots

100kg payload

6km/h

Lead-acid batteries – 2,112 watt-hours at

24VDC power

0.9m x 0.66m x 0.48m

24 Sonar transceivers – range sensing

Pressure sensor bumpers

Driven by open-system Advanced Robot

Control and Operation Software (ARCOS).

Client software – Advanced Robotic Interface

for Application (ARIA).

Barrett WAM

7DoF

Light weight, cable driven

No torque – 27W DC required

45W required with torque applied

800W maximum possible draw

2kg payload

Barrett hand – 3 fingers

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System Integration

• Three steps– Individual operation

– Network communication

– Hardware and software

integration

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Hardware Integration

• Hardware integration

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CHAMP

• System overview CHAMP

1m reach

6km/h

Gripper that can lift 2kg

2-3 hours operation time

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Software Integration

• Software integration

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Show and Tell

• Current research platform in operation

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Conclusion

• Future work – Autonomous operation

– Machine learning

– Active vision

Thank you

Beatrice van Eden (bveden@csir.co.za)