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Recommendations and Propects

This document discusses a mobile robotic platform that uses ROS and differential drive. It can be programmed with various algorithms and expanded with additional hardware like arms, sensors, and actuators. This basic platform is already configured to work with ROS navigation packages for tasks like SLAM, localization, and path planning. It also suggests several possible expansions like adding speech recognition, decision making abilities, or tools for tasks like surveillance, picking and placing objects, or housekeeping. Several specific humanoid or arm robots are provided as examples of how this platform could be expanded, including options like the Nao, Pelican, BlueROV, Cyton arm, REEM-C, and Shadow hand.

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Muhammad Saleem
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90 views6 pages

Recommendations and Propects

This document discusses a mobile robotic platform that uses ROS and differential drive. It can be programmed with various algorithms and expanded with additional hardware like arms, sensors, and actuators. This basic platform is already configured to work with ROS navigation packages for tasks like SLAM, localization, and path planning. It also suggests several possible expansions like adding speech recognition, decision making abilities, or tools for tasks like surveillance, picking and placing objects, or housekeeping. Several specific humanoid or arm robots are provided as examples of how this platform could be expanded, including options like the Nao, Pelican, BlueROV, Cyton arm, REEM-C, and Shadow hand.

Uploaded by

Muhammad Saleem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Recommendations and Prospect:

This project consists of a mobile base which utilizes a differential drive type mechanism for
maneuvering. As it uses ROS as it's software framework, it is capable of being programmed with the
latest algorithms no matter how simple or complex, it is highly flexible as it allows to us to run almost
all types of hardware weather it's an actuator or a sensor and it's distributed architecture allows us to
implement and run several different algorithms on a single or multiple machines at once. It's graphical
tools and telethering capabilities allow easy monitoring and control of the running system. This project
serves as a basic robotic platform which can be controlled by publishing angular and linear velocities in
terms of robot frame. This means that it is already configured to run with the Navigation stack in ROS
which consists of different packages which are an implementation of algos like SLAM (Simultaneous
localization and mapping), AMCL (adaptive monte carlo localization) and other path planning
algorithms. This project can also be added with other features to make it a complete product. For
example it can be coded to think and make decisions on it's own, it can be interfaced with speech
recognition and text to speech packages to allow it to speak and understand different languages. Its
physical structure can be extended to contain a robotic arm which can be programmed to do simple
tasks like pick and place objects or open doors. It can serve as a survellience robot or even as a house
keeping robot.
There are many humanoid robots already present in the market which use differential drive type
mechanisms to maneuver. This robot is already configured to be expanded to that level.
Several robots which are a plausible future of this project (Petbot) are given as follows
1) Aldebaran Nao
Nao is a commercially available
humanoid robot built by Aldebaran.
The ROS driver was originally
developed by Freiburg's Humanoid
Robots Lab and Armin Hornung

2) Ascending Technologies Pelican/Hummingbird

3) Blue Rov
The BlueROV is a remotely operated underwater vehicle from Blue Robotics. It features Blue Robotics
thrusters, a flight controller with ArduSub software, and a RaspberryPi running ROS.

4) Robai Cyton Gamma 7DOF Arm

5) REEM-C
REEM-C is the latest commercial humanoid robot of PAL Robotics. REEM-C is an adult size
humanoid (165 cm), and it has 44 degrees of freedom, two i7 computers, force/torque and range finders
on each feet, stereo camera, 4 microphones, and other devices that make REEM-C one of the best
equipped research platforms today. Optionally, a depth camera can also be attached to the head. It also
has already developed software for walking, grasping, navigation and human-robot interaction. REEMC runs on ROS internally, and uses state-of-the-art ros_control and OROCOS.

6) Shadow Dexterous Hand


The Shadow Dexterous Hand is a truly anthropomorphic approach to robot manipulation. With 20
actuated degrees of freedom, position and force sensors, and ultra sensitive touch sensors on the
fingertips, the hand provides unique capabilities for problems that require the closest approximation of
the human hand currently possible. The Shadow Dexterous Hand uses industry standard interfaces and
can be used as a tele-operation tool or mounted on a range of robot arms as part of a robot system.

7) PR2

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