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Telepresence Mobile Robots Design and Control for Social Interaction
Tadele Belay Tuli1, Tesfaye Olana Terefe2, Md Mamun Ur Rashid3
1Department of Electromechanical Engineering, Addis Ababa Science and Technology University, Addis Ababa, Ethiopia.
International Journal of Social Robotics
|August 25, 2020
Summary
This study presents a novel telepresence robot design for social interactions, enhancing remote human connection. The robot offers improved maneuverability and variable height, bridging skill gaps in developing countries.
Area of Science:
- Robotics
- Human-Robot Interaction
- Control Systems
Background:
- Telepresence robots facilitate remote human interaction, with advancements in communication technologies enabling stable data transmission.
- Challenges persist in physical human-robot interactions, particularly concerning maneuverability, control, stability, and autonomy.
- Existing telepresence solutions often lack the necessary physical capabilities for nuanced social engagement.
Purpose of the Study:
- To systematically design and control a telepresence mobile robot tailored to user needs for social interactions.
- To address limitations in maneuverability, controllability, and stability in current telepresence systems.
- To develop a robot capable of versatile physical interaction and mobility in diverse environments.
Main Methods:
- A systematic design approach was employed, prioritizing customer needs and expectations for social telepresence.
- System modeling was performed using the Lagrangian method for dynamic analysis.
- Controller design utilized a linear quadratic regulator (LQR) for robust performance across different scenarios.
Main Results:
- The developed robot system demonstrates effective control for various scenarios, including flat surfaces, inclined surfaces (up to 30 degrees), and yaw steering.
- The robot features adjustable height capabilities, ranging from 600 mm to 1200 mm.
- The system achieved stable audio-video-data transmission, crucial for effective telepresence.
Conclusions:
- The proposed telepresence robot design offers a viable solution for enhancing social interactions and remote collaboration.
- This technology holds significant potential for developing countries to address skill gaps and facilitate knowledge sharing.
- The robot's mobile physical presence enables new forms of virtual interaction and expertise dissemination.
