Waiter Robots Conveying Drinks

Technologies

卷:8

WaiLeong Eugene Wong¹  WaiShing Michael Lau¹  Edwin Foo²  YiDe Soong³  AshYaw Sang Wan³ 

[1] @NewRIIS, Newcastle University, Singapore 609607, Singapore;

[2] Nanyang Polytechnic, Ang Mo Kio, Singapore S569830, Singapore;

[3] Singapore Institute of Technology @NYP, Newcastle University, Singapore S567739, Singapore;

关键词: waiter bots;    autonomous mobile robot;    robot motion;    kinematics;    finite state machine;    reactive robots;   

DOI  :  10.3390/technologies8030044

来源: DOAJ

【 摘 要 】

Robots have been reportedly seen serving food in several restaurants in many parts of the world. New ventures have been deploying mechanical partners which promote the growth in service robotics. However, robots are considerably incompetent when it comes to beverage and soup delivery. The physical challenge behind the clumsy motion of these machines is found to be its jerky motion control. Jerk control solutions are widely studied in a constrained environment but not well introduced in dynamic environments. In this paper, we will begin by examining developed kinematics solutions, open-source packages from Robot Operating System and the constraints of motion planning. The proposed solution in this paper provides a quick system response with jerk limits using spline velocity profiles. The solution will introduce the concepts of a state machine design that enables the robot to behave and move reactively; effectively balancing its desired velocity and position without spilling a drop of customer satisfaction. Experiments have proven that robots can move at higher velocity without any crashing, spilling, or docking issues. The smooth velocity control proposed will improve the capabilities of waiter robot and service operations in restaurants.

【 授权许可】

Unknown