CARE-O-BOT-RESEARCH: PROVIDING ROBUST ROBOTICS HARDWARE TO AN OPEN SOURCE COMMUNITY
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1 CARE-O-BOT-RESEARCH: PROVIDING ROBUST ROBOTICS HARDWARE TO AN OPEN SOURCE COMMUNITY Dipl.-Ing. Florian Weißhardt Fraunhofer Institute for Manufacturing Engineering and Automation IPA
2 Outline Objective Care-O-bot 3 platform Open source hardware drivers and simulation Remote access via web portal Conclusion and outlook
3 Common needs for research and development I want to develop Functionalities Technologies I want to develop Applications Scenarios Cooperation Available functionalities Robust and easy-to-use robotics hardware?
4 Providing Care-O-bot 3 for different user groups remote simulation local Fraunhofer IPA provides Care-O-bot 3 platform Open source drivers Simulation models Remote access via web portal Direct access, e.g. research camps, rent, buy Support
5 Outline Objective Care-O-bot 3 platform Open source hardware drivers and simulation Remote access via web portal Conclusion and outlook
6 Care-O-bot 3 mobile manipulation platform Product vision, realized in 2008 Functional design Two-side interaction concept Industrial grade components Reliable, robust and capable Compact integration Flexible system layout Easily extensible
7 Industrial grade hardware components Light-Weight-Arm (7 DOF) Gripper (7 DOF) Tactile sensors Speakers Sensor head (1 DOF, stereo and 3D-ToF) 2 PT-Units (2x 2 DOF) Tray (1 DOF) Touch screen Computer Bay (3-5 PCs) Omnidirectional platform (4x 2 DOF) Battery 3 Laser scanners (front, back, top of mobile base)
8 Flexible casing For demonstration purposes or user studies Attractive and product like
9 Modular Care-O-bot 3 system layout Arm Ethernet Motor 1 MC CAN Brick PC MPentium Firewire Head Cameras (2) (2) AVR Pike Schunk LWA3 Schunk Schunk SDH Motor 2 Motor 7 Gripper Actuator 1 Actuator 7 Tactile Sensors Wrist Force/Torque Sensors MC MC MC MC CAN Brick PC MPentium Manipulation Computer Vision Computer PC104 MPentium Mobile Base Computer Brick PC MPentium User Interface Computer USB 3D Sensor CAN Pan/Tilt Unit 4DOF CAN Tray RS422 Front/Rear Scanner Drive 1 CAN Drive 8 Joystick Wireless USB Touch Screen VGA USB Audio In/Out USB MC Lighting CSEM S3000 (2) Schunk PW Schunk PLR 80 (2) SICK S300 ELMO ELMO Logitech Wireless Emergency Stop Remote Emergency Stop Nokia N810 Remote Controller WLAN Desktop PC Remote Controller
10 Outline Objective Care-O-bot 3 platform Open source hardware drivers and simulation Remote access via web portal Conclusion and outlook
11 Layered architecture Applications Technologies Components Middleware Drivers Hardware
12 Extendable open source repository Common algorithm separated from communication Open to support multiple robotics frameworks, currently ROS and OROCOS
13 Integration of Care-O-bot 3 drivers with ROS Additional high-level application ROS communication layer ROS high-level stacks Additional driver packages ROS messages and services, e.g. LaserScan, Image cob3 platform Care-O-bot driver stack sick S300 power cube chain sdh cob3 camera sensors cob3 lights cob3 battery Additional HW Low-level communication to hardware, e.g. CAN, serial, usb HW HW HW HW HW HW HW
14 Multitude of built-in components and functionalities Applications Person following Grasp planning Collision avoidance Navigation 2D-SLAM Path planning Collision avoidance New components ROS communication layer Manipulation Kinematic transformations Grasp planning Collision avoidance Vision Sensor fusion Object recognition Object segmentation Gesture recognition Common driver API driver stack simulation stack
15 Simulation and visualization for realistic scenarios Single simulated components Simulated sensors and actors, e.g. Arm joints, hand Cameras, laser scanners Model of the whole robot Kinematic and dynamic models of hardware components Environment modelling
16 Outline Objective Care-O-bot 3 platform Open source hardware drivers and simulation Remote access via web portal Conclusion and outlook
17 Remote access via web portal Developer A (local) Developer B (remote) Internet Robot hardware Web portal Project management Development tools Remote access to hardware Developer C (remote)
18 Sharing functionalities
19 Outline Objective Care-O-bot 3 platform Open source hardware drivers and simulation Remote access via web portal Conclusion and outlook
20 Conclusion Focus on your research topics without caring about the hardware! The Care-O-bot research initiative offers Care-O-bot 3 as a high-tech research platform Reliable, robust and capable hardware Remote access via web portal Direct access, e.g. research camps Rent or buy Care-O-bot 3 Related R&D Projects
21 Care-O-bot Research schedule Schunk Expert Days Care-O-botresearch.org Care-O-bot Info-Day Automatica 2008 German Open Singapore irex 2009 ICRA 2010
22 Thank you for your attention Contact: Dipl.-Ing. Florian Weißhardt
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