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Design of a Low-Cost Platform for Autonomous Mobile Service Robots

2016

Miscellaneous

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Most current autonomous mobile service robots are either expensive commercial platforms or custom manufactured for research environments, limiting their availability. We present the design for a lowcost service robot based on the widely used TurtleBot 2 platform, with the goal of making service robots affordable and accessible to the research, educational, and hobbyist communities. Our design uses a set of simple and inexpensive modifications to transform the TurtleBot 2 into a 4.5ft (1.37m) tall tour-guide or telepresence-style robot, capable of performing a wide variety of indoor service tasks. The resulting platform provides a shoulder-height touchscreen and 3D camera for interaction, an optional low-cost arm for manipulation, enhanced onboard computation, autonomous charging, and up to 6 hours of runtime. The resulting platform can support many of the tasks performed by significantly more expensive service robots. For compatibility with existing software packages, the service robot runs the Robot Operating System (ROS).

Author(s): Eric Eaton and Caio Mucchiani and Mayumi Mohan and David Isele and Jose Marcio Luná and Christopher Clingerman
Year: 2016

Department(s): Haptic Intelligence
Bibtex Type: Miscellaneous (misc)
Paper Type: Workshop

Address: New York, USA
How Published: Workshop paper (7 pages) presented at the 25th International Joint Conference on Artificial Intelligence (IJCAI) Workshop on Autonomous Mobile Service Robots
State: Published
URL: https://pdfs.semanticscholar.org/1ef2/470b1a74a539b4afdc1aacb64b0465ae5e4a.pdf

BibTex

@misc{Eaton16-IJCAIWS-Service,
  title = {Design of a Low-Cost Platform for Autonomous Mobile Service Robots},
  author = {Eaton, Eric and Mucchiani, Caio and Mohan, Mayumi and Isele, David and Lun\'a, Jose Marcio and Clingerman, Christopher},
  howpublished = {Workshop paper (7 pages) presented at the 25th International Joint Conference on Artificial Intelligence (IJCAI) Workshop on Autonomous Mobile Service Robots},
  address = {New York, USA},
  year = {2016},
  url = {https://pdfs.semanticscholar.org/1ef2/470b1a74a539b4afdc1aacb64b0465ae5e4a.pdf}
}