Robot Compatible Environment and Conditions

Service robot technology is progressing at a fast pace. Accurate robot-friendly indoor localization and harmonization of built environ-ment in alignment with digital, physical, and social environment becomes emphasized. This paper proposes the novel approach of Robot Compatible Environment (RCE) within the architectural space. Evolution of service robotics in connection with civil engineering and architecture is discussed, whereas optimum performance is to be achieved based on robots’ capabilities and spatial affordances. For ubiquitous and safe human-robot interaction, robots are to be integrated into the living environment. The aim of the research is to highlight solutions for various interconnected challenges within the built environment. Our goal is to reach findings on comparison of robotic and accessibility standards, synthesis of navigation, access to information and social acceptance. Checklists, recommendations, and design process are introduced within the RCE framework, proposing a holistic approach

Home Compatible Omnidirectional Hovercraft Robot

As robots slowly integrate into home environments, synthesis of navigation, maneuverability and human acceptance is inevitable. This paper introduces a holonomic hovercraft design and the associated omnidirectional controlling algorithm. Hovercraft capabilities were investigated and discussed though design recommendations in relation to a robot compatible environment. The main aim of the design was to achieve better maneuverability, enhanced capabilities of overcoming obstacles, and the elimination of the drift phenomena that is a characteristic of conventional underactuated hovercraft designs, where rear rotor drive exerts thrust in one direction. Due to own inertia and the low friction of the air cushion, the hovercraft slips out in the original direction. Beyond solving this drift problem, another key feature of our design is the capability to be controlled in a global reference frame regardless of its orientation and desired trajectory with the help of a holonomic thruster drive. Orientation control is also implemented by turning the base of the thrusters. The design was implemented on a remote controlled hovercraft robot and proved to have a superior maneuverability over conventional hovercraft designs, thus our research greatly contributes to future human-robot cooperation in the living environment