Description
The mobile robot ARTOS has been created for indoor use in assisted living scenarios. Initially designed for transport tasks some improvements where made for semi-autonomous teleoperation to assess situations and detect emergencies. When providing a proper internet-enabled wireless ethernet connection the robot can be reached over Skype for human-to-human interaction.
ARTOS possesses a tilting mechanism which ensures that the drive wheels and at least one coaster wheel are always on the ground. This mechanism consists of a pivot-mounted plate to which the centered components are attached, The system uses a low-power PC for task management, and high-level control. This has been implemented using the Modular Controller Architecture (MCA), a framework for robot control systems. Drive instructions are passed over CAN-Bus to the signal processors that control the motor speed.
Technical Data
| length | 55 cm |
| Width | 33 cm |
| Height | 26 cm |
| Weight | ca. 25 kg |
| Payload | ca. 50 kg |
| Power | 2 12V lead batteries with 10Ah |
| Operation Time | approx. 2h |
| Drive | Differential drive with 2 Faulhaber 2657WO24CR motors |
| Wheels | 2 active on centered axis, 2 passive at front and rear |
| Max. speed | 50 cm/s |
| Max. acceleration | 25 cm/sq.s |
| Motor Control | Motorola DSP 56F803 |
| Computer | Intel Core2Solo, CAN Interface |
| Multimedia | Speakers, microphone, serial display, TTS |
| Camera | Axis PTZ |
| Operating System | Gentoo Linux, Kernel 2.6.21.5 |
List of Publications
- Safe and Cost-Efficient Mobile Robot Navigation in Aware Environments.
(2016)
http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:386-kluedo-45188 - Safe Predictive Mobile Robot Navigation in Aware Environments.
Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015), Vol. 2, S. 15 - 23. (2015) - A Survey of Human Location Estimation in a Home Environment.
23rd IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2014), (2014) - Autonomous Determination of Locations for Observing Home Environment using a Mobile Robot.
13th International Conference on Intelligent Autonomous Systems (IAS-13), (2014) - Behavior-based search of human by an autonomous indoor mobile robot in simulation.
Universal Access in the Information Society, Vol. 13, Nr. 1, S. 45 - 58. (2014) - LiFe-Support. An Environment to Get Live Feedback During Emergency Scenarios.
Proceedings of the 8th Nordic Conference on Human-Computer Interaction, S. 935 - 938. (2014) - Life-Long Learning of Daily Human Routine in Home Environments.
Workshop on Long Term Autonomy, IEEE International Conference on Robotics and Automation (ICRA 2014), (2014) - On the Benefits of Component-Defined Real-Time Visualization of Robotics Software.
4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014) , Vol. 8810, S. 376 - 387. (2014) - Pro-Active Search of Elderly at Home by an Autonomous Mobile Robot.
Medical and Service Robotics (MESROB 2014) , (2014) - Risk-Reduced Mobile Robot Path Planning in Smart Environments.
Proceedings for the joint conference of ISR 2014 and ROBOTIK 2014, S. 582 - 589. (2014) - Using the Human Daily Routine for Optimizing Search Processes using a Service Robot in Elderly Care Applications.
RRLab Dissertations, (2014)
http://www.dr.hut-verlag.de/978-3-8439-1789-6.html ISBN-13: 978-3-8439-1789-6 - Using the Human Daily Routine for Optimizing Search Processes using a Service Robot in Elderly Care Applications.
(2014)
http://www.dr.hut-verlag.de/978-3-8439-1789-6.html - Performance evaluation of ambient services by combining robotic frameworks and a smart environment platform .
Robotics and Autonomous Systems , Vol. 61, Nr. 11, S. 1173 - 1185. (2013) - Optimized Mobile Indoor Robot Navigation through probabilistic Tracking of People in a Wireless Sensor Network.
Proceedings of the 7th German Conference on Robotics (Robotik 2012), S. 355 - 360. (2012) - A Simulated Environment for Elderly Care Robot.
Pervasive and Embedded Computing and Communication Systems (PECCS), S. 562 - 567. (2011) - Development of a Simulated Environment for Human-Robot Interaction.
Indonesian Journal of Electrical Engineering - Special Section on Robotics, Vol. 9, Nr. 3, S. 465 - 472. (2011) - Probabilistic Search of Human by Autonomous Mobile Robot.
4th International Conference on PErvasive Technologies Related to Assistive Environments, (2011) - Using an Autonomous Robot to Maintain Privacy in Assistive Environments.
Security and Communications Networks, Vol. 4, Nr. 11, S. 1275 - 1293. (2011) - Behaviour Based Searching of human using MDP.
The European Conference on Cognitive Ergonomics (ECCE 2010), Nr. ISBN: 978-94-90818-04-3, S. 349 - 350. (2010) - Ordering of Robotic Navigational Tasks in Home Environment.
Trends in Intelligent Robotics, Vol. 103, S. 242 - 249. (2010) - Use of an Autonomous Mobile Robot for Elderly Care.
Advanced Technologies for Enhancing Quality of Life, S. 121 - 126. (2010) - Methodology for Robot Mapping and Navigation in Assisted Living Environments.
PETRA ’09, (2009) - Improvement of the Mapping and Navigation Systems of the AMR ARTOS.
(2008) - Small Service Robots for Assisted Living Environments.
VDI/VDE Fachtagung Robotik, (2008) - Universal Web Interfaces for Robot Control Frameworks.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2008) - A Behaviour-Based Drive and Anti-Collision System for an Autonomous Mobile Robot.
(2007) - Dynamic Speech Interaction for Robotic Agents.
Recent Progress in Robotics, Vol. 370, S. 303 - 315. (2007) - Mobile Robot Navigation Support in Living Environments.
20. Fachgespräch Autonome Mobile Systeme (AMS), S. 341 - 346. (2007) - Mobile Robot Navigation Using Dynamic Maps and a Behaviour-Based Anti-Collision System.
(2007)