Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks restricting capabilities. We present a novel design that reduces size, weight, and cost, while supporting a variety of tasks. The core design consists of a two-wheeled differential-drive mobile base, a lift, and a telescoping arm configured to achieve Cartesian motion at the end of the arm. Design extensions include a 1 degree-of-freedom (DOF) wrist to stow a tool, a 2-DOF dexterous wrist to pitch and roll a tool, and a compliant gripper. We justify our design with anthropometry and mathematical models of static stability. We also provide empirical support from teleoperating and autonomously controlling a commercial robot based on our design (the Stretch RE1 from Hello Robot Inc.) to perform tasks in real homes.
翻译:室内人类环境的移动操纵器可以作为多用途装置,执行各种任务,但采用这种技术是有限的。降低尺寸、重量和成本可以促进收养,但有限制能力的风险。我们展示了一种新型设计,在减少大小、重量和成本的同时支持各种任务。核心设计包括两轮不同驾驶移动基地、电梯和为在手臂末端实现笛卡尔运动而配置的电视机包臂。设计扩展包括储存工具的1度自由手腕、投放和滚动工具的2-DOF软手腕和符合要求的握手。我们用人类测量和静态稳定的数学模型来证明我们的设计是合理的。我们还根据我们的设计(Hello Robot Inc.)提供远程操作和自主控制商业机器人的经验支持,以在现实家庭执行任务。