Robotics System with External Forces Estimation

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00382498" target="_blank" >RIV/68407700:21230/24:00382498 - isvavai.cz</a>

Result on the web

<a href="https://youtu.be/xJqp5ZK44_U" target="_blank" >https://youtu.be/xJqp5ZK44_U</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Robotics System with External Forces Estimation

Original language description

The functional sample consists of two mobile robotics manipulators on multi-legged walking platforms that collaboratively transport a payload. The estimation of external forces is employed at the arm to realize the submissive grip of the payload. The resulting external force estimation acting on the robot body is utilized as a control input to steer the motion of the robots. The functional sample demonstrates human-robot collaboration.

Czech name

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Czech description

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Type

G_funk - Functional sample

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/TN02000028" target="_blank" >TN02000028: Center for advanced machines and manufacturing technology</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2024

Confidentiality

C - Předmět řešení projektu podléhá obchodnímu tajemství (§ 504 Občanského zákoníku), ale název projektu, cíle projektu a u ukončeného nebo zastaveného projektu zhodnocení výsledku řešení projektu (údaje P03, P04, P15, P19, P29, PN8) dodané do CEP, jsou upraveny tak, aby byly zveřejnitelné.

Internal product ID

TN02000028/3-V12

Numerical identification

TN02000028/003-V12

Technical parameters

The functional sample consists of two mobile robotic manipulators SCORPIO, each based on the six-legged walking platform. The dimensions of a single robot are 0.25 x 0.40 x 0.40 m, and the weight is about 5 kg. The power is provided by the 115.4 Wh battery that delivers enough power for about 1.5 h of continuous operation. The maximum speed of the robot is approximately 0.4 m/s. The walking platform consists of eighteen servo motors Dynamixel XM430-W350 by Robotis, and the onboard computational unit is based on the Intel NUC 10i7FNKK61156-3 with the software components developed within Robot Operating System (ROS) Melodic infrastructure. The sensing is based on the Intel RealSense D435 depth camera and Intel RealSense T265 tracking camera. The manipulator consists of three Dynamixel XM430-W350 actuators in the yaw-pitch-pitch configuration. The work envelope is about 15 cm horizontally and 19 cm vertically. The arm weight is 0.3 kg. The maximum load (reaching stall torque) is 3.4 kg. The load is limited by the 3D-printed parts that provide a 5x safety factor (0.7 kg). The payload used in the demonstration is an aluminum construction profile 66 cm long with a weight of 0.335 kg. The video from the demonstration of the functional sample features is available at https://youtu.be/xJqp5ZK44_U.

Economical parameters

The estimated cost of a single platform based on the components and without the assembly and development costs is about 10,000 EUR. Therefore, the functional sample of the collaborative manipulation with external force estimation is no less than 20,000 EUR.

Application category by cost

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Owner IČO

68407700

Owner name

České vysoké učení technické v Praze / FEL / 13136 / centrum umělé inteligence

Owner country

CZ - CZECH REPUBLIC

Usage type

V - Výsledek je využíván vlastníkem

Licence fee requirement

Z - Poskytovatel licence na výsledek nepožaduje v některých případech licenční poplatek

Web page

https://youtu.be/xJqp5ZK44_U