1 research outputs found
An Omnidirectional Platform for Education and Research in Cooperative Robotics
In this paper we present a new, affordable, omnidirectional robot platform which is suitable
for research and education in cooperative robotics. We design and implement the platform for
the purpose of multi-agent object manipulation and transportation. The design consists of three
omnidirectional wheels with two additional traction wheels, making multirobot object manipulation
possible. It is validated by performing simple experiments using a setup with one robot and one
target object. The execution flow of a simple task (Approach–Press–Lift–Hold–Set) is studied. In
addition, we experiment to find the limits of the applied pressure and object orientation under certain
conditions. The experiments demonstrate the significance of our inexpensive platform for research
and education by proving its feasibility of use in topics such as collaborative robotics, physical
interaction, and mobile manipulation