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http://dx.doi.org/10.5762/KAIS.2011.12.4.1824

A Study on Design of Smart Home Service Robot McBot II  

Kim, Seung-Woo (Department of Electrical Information Engineering, Soonchunhyang University)
Kim, Hi-Jun (Department of Electrical Information Engineering, Soonchunhyang University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.12, no.4, 2011 , pp. 1824-1832 More about this Journal
Abstract
In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.
Keywords
Mess-Cleanup Robot II; Robotic Waist; Mobile Robot; Robotic Arms; Robotic Hands;
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Times Cited By KSCI : 1  (Citation Analysis)
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