Designing High Performance Deployable Robots for Built ...
Transcript of Designing High Performance Deployable Robots for Built ...
DesigningHighPerformanceDeployableRobotsforBuiltEnvironments
MohanRajeshElaraEngineeringProductDevelopmentPillar
SingaporeUniversityofTechnologyandDesignEmail:[email protected]
RobotErgonomics
…anewfieldofstudyinvolvingsystematicformulationofdesignmethods,techniques,and
toolstargetingrobotinclusivespacesandproducts.
Self-reconfigurableRobotics
...anewclassofrobotsthatpossessabilitytoautonomouslyadapttheirmorphologiesto
overcomecomplexitiesposedbytheenvironment.
Research Overview
HighPerformanceDeployableRobots
DesignPrinciples
RobotErgonomicsCompetition
FurnitureBenchmarking
Scorpio vTetro
VeSuRo
hTetro Self-reconfigurationPlanner
hTetro:ASelf-reconfigurableFloorCleaningRobot
FloorCleaningRobotMarket
Floor Cleaning: The Context
hTetro: Simulation
hTetro: Prototype
An 8×8 chessboard can be tiled with no fault lines by L-tetromino
Tetris Tiling Theory
hTetro: Application of Tetris Tiling Theory
sTetro: Simulation
sTetro: Prototype
Intra-reconfigurablerobotmechanisms
Twobroadclasses:
Metamorphichand,KCL
Scorpio,SUTDInter-reconfigurablemodularrobots
Uni-Rover,TIT
M-TranII,TIT-AIST
Miche,MIT
Reconfigurable Robotics: Taxonomy
Intra-reconfigurablerobotmechanisms
Twobroadclasses:
Inter-reconfigurablemodularrobots
Uni-Rover,TIT
M-TranII,TIT-AIST
Miche,MIT
Metamorphichand,KCL
DoubleoctahedralVGT,IRI
Reconfigurable Robotics: Taxonomy
hTetro: A Nested Reconfigurable Platform
RobotErgonomics:DesignofRobotInclusiveSpacesandProducts
DesignofRobots
PerceivingTouchingSeeingHearing
OtherSensing
ActingManipulatingNavigatingInteracting
CollaboratingMonitoring
ApplicationMedical-Rehabilitation
ProfessionalDomestic
ManufacturingUnderwater
Aerial
UnderstandingRecognizingInterpretingAdaptingModeling
CognitiveArchitectures
Adaptationstargetingphysicallyandmentallychallenged
Withanagingworld,adaptationforelderlyistheneedoftheday
Designedspacesforchildrenisbecomingmorecommon
Ning Tan, R. E. Mohan, and A. Watanabe. "Toward a framework for robot-inclusive environments." Automation inConstruction 69 (2016): 68-78.
Robot Ergonomics: A Design Initiative
InductiveStudies
Deriving Design Principles: An Inductive Approach
Mohan, R. E., Rojas, N., Seah, S., & Sosa, R. (2013, August). Design principles for robot inclusive spaces. In DS 75-4:Proceedings of the 19th International Conference on Engineering Design (ICED13), Design for Harmonies, Vol. 4: Product,Service and Systems Design, Seoul, Korea, 19-22.08. 2013.
Benchmarking Furniture
ChairNo. %CleanedArea1 64.562 78.473 78.924 79.035 80.216 80.87 83.398 84.339 84.5310 84.6811 86.0712 86.8113 87.4414 89.3115 90.0116 90.0317 90.1918 91.819 91.9620 92.0321 92.4522 92.66
Tan, N., Mohan, R. E., Wong, Y. Y., & Sosa, R. (2015, August). Robot ergonomics: A case study of chair design for Roomba.In Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on (pp. 246-251). IEEE.
Robot Inclusive Space Challenge
Mohan, R. E., Rojas, N., Sosa, R., & Kaisner, J. (2013, November). Robot Inclusive Space challenge: A design initiative. In 2013 6thIEEE Conference on Robotics, Automation and Mechatronics (RAM) (pp. 73-78). IEEE.
ThankYou!