KFU. Card publication. LIRS-ArtBul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform

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LIRS-ARTBUL: DESIGN, MODELLING AND CONSTRUCTION OF AN OMNIDIRECTIONAL CHASSIS FOR A MODULAR MULTIPURPOSE ROBOTIC PLATFORM

Form of presentation

Articles in international journals and collections

Year of publication

2022

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Authors, employees of KFU

Abbyasov Bulat Rivalevich, author

Apurin Artem Aleksandrovich, author

Dobrokvashina Aleksandra Sergeevna, author

Magid Evgeniy Arkadevich, author

Safarova Lyaysan Rinatovna, author

Coy Tatyana Grigorevna, author

Other authors

Martinez-Garsiya Edgar , author

Bibliographic description in the original language

Apurin, A., Abbyasov, B., Safarova, L., Dobrokvashina, A., Tsoy, T., Martínez-García, E. A., & Magid, E. (2022, December). LIRS-ArtBul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform. In Interactive Collaborative Robotics: 7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings (pp. 70-80). Cham: Springer International Publishing.

Annotation

Interactive Collaborative Robotics. ICR 2022. Lecture Notes in Computer Science

Keywords

Mobile robot, Mecanum wheels, Service robotics

The name of the journal

Interactive Collaborative Robotics. ICR 2022. Lecture Notes in Computer Science

URL

https://link.springer.com/chapter/10.1007/978-3-031-23609-9_7#chapter-info

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=276359&p_lang=2

Full metadata record

Field DC	Value	Language
dc.contributor.author	Abbyasov Bulat Rivalevich	ru_RU
dc.contributor.author	Apurin Artem Aleksandrovich	ru_RU
dc.contributor.author	Dobrokvashina Aleksandra Sergeevna	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Safarova Lyaysan Rinatovna	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.contributor.author	Martinez-Garsiya Edgar	ru_RU
dc.date.accessioned	2022-01-01T00:00:00Z	ru_RU
dc.date.available	2022-01-01T00:00:00Z	ru_RU
dc.date.issued	2022	ru_RU
dc.identifier.citation	Apurin, A., Abbyasov, B., Safarova, L., Dobrokvashina, A., Tsoy, T., Martínez-García, E. A., & Magid, E. (2022, December). LIRS-ArtBul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform. In Interactive Collaborative Robotics: 7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings (pp. 70-80). Cham: Springer International Publishing.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=276359&p_lang=2	ru_RU
dc.description.abstract	Interactive Collaborative Robotics. ICR 2022. Lecture Notes in Computer Science	ru_RU
dc.description.abstract	Service robotics is a promising area of commercializing robotic solutions of various kinds, from education and medical services to entertainment and advertisement. It might be useful to construct a series of different specialized service robots that have a modular construction and share the same chassis. Such approach allows to reuse encapsulated locomotion libraries instead of their development from scratch for each model of a robot and easily add or replace particular robot modules depending on a target task or an operational environment. This paper provides a tutorial on developing an omnidirectional mecanum wheeled chassis for a modular multipurpose robotic platform. We describe a chassis design, modelling in Blender, selection of components, assembly process and basic locomotion software development. We used Gazebo simulator for robot behaviour emulation due to its support of the Robot Operating System (ROS). For control Raspberry PI 4 and Arduino Mega2560 modules were employed. The chassis model behavior was validated in virtual environments of Gazebo and, after assembling, in real world locomotion scenarios. The chassis will be further employed in development of several new in-house mobile platforms, which could serve for particular purposes within the service robotics field.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Mobile robot	ru_RU
dc.subject	Mecanum wheels	ru_RU
dc.subject	Service robotics	ru_RU
dc.title	LIRS-ArtBul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform	ru_RU
dc.type	Articles in international journals and collections	ru_RU