在具有门和电梯的多层建筑中实现自主运输服务
Paul Robert Schulze1, Steffen Müller1, Tristan Müller1
1Neuroinformatics and Cognitive Robotics Lab, Department of Computer Science and Automation, Institute for Technical Informatics and Engineering Informatics, Technische Universität Ilmenau, Ilmenau, Germany.
Frontiers in robotics and AI
|March 12, 2025
概括
这项研究展示了一个自主移动服务机器人,通过打开门和使用电梯在复杂的室内环境中进行导航. 在老年护理机构和大学的实地测试显示,运输和通讯任务取得了成功,突出了辅助机器人的实际应用.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与机器人的交互
- 辅助技术 辅助技术 辅助技术
背景情况:
- 移动服务机器人通常仅限于没有障碍的环境.
- 将机器人集成到现有建筑物中需要先进的导航和交互能力.
- 辅助机器人需要克服关闭门等障碍物,并操作电梯.
研究的目的:
- 为了证明在一个自主移动服务机器人中集成的基本功能,用于现实世界的应用.
- 为了使移动服务机器人能够在现有建筑物中独立运行,包括与门和电梯互动.
- 在实际环境中评估这些机器人的性能并确定这些机器人的挑战.
主要方法:
- 使用了一台SCITOS G5机器人,配备差速驱动和7度自由度 (DoF) 的Kinova Gen II臂.
- 开发并集成了用于自主开门和电梯操作的功能.
- 在老年护理机构和大学办公楼进行了实地测试.
主要成果:
- 该机器人在各种室内环境中成功执行了运输和消息传递任务.
- 在导航复杂的建筑布局和与建筑基础设施互动方面取得了显著的成功率.
- 确定了与机动性和感知局限性相关的具体挑战.
结论:
- 自主移动服务机器人可以有效地部署在现有建筑物中,用于运输和消息等任务.
- 独立操作,包括门和电梯的相互作用,对于辅助机器人实用工具至关重要.
- 需要进一步的研究来解决机器人的操纵能力和感知能力的局限性,以提高机器人的性能.
更多相关视频
07:49Automated Deployment of an Internet Protocol Telephony Service on Unmanned Aerial Vehicles Using Network Functions Virtualization
Published on: November 26, 2019
8.0K
06:18Assessing the Autonomic and Behavioral Effects of Passive Motion in Rats using Elevator Vertical Motion and Ferris-Wheel Rotation
Published on: February 7, 2020
6.7K
相关概念视频
01:27Movement Joints in Buildings
101
Movement joints in buildings are essential design elements that accommodate inevitable motions caused by various factors such as temperature changes, moisture content variations, and structural deflections. These motions, if not considered in design and construction, can lead to unsightly or dangerous damage. Movement joints are incorporated in different forms to manage these stresses and allow materials to move without causing distress.
The simplest type of movement joints, working joints, are...
The simplest type of movement joints, working joints, are...
101
01:06Carrier-Mediated Transport
228
Carrier-mediated transport is a pivotal process in drug absorption, particularly for lipid-insoluble drugs, and encompasses facilitated diffusion and active transport. Facilitated diffusion allows drugs to move along their concentration gradient without energy expenditure, while active transport utilizes ATP to drive drug movement against this gradient.
Active transport involves two types of membrane-spanning transporters: uptake and efflux. Uptake transporters are expressed in the small...
Active transport involves two types of membrane-spanning transporters: uptake and efflux. Uptake transporters are expressed in the small...
228
01:19Facilitated Transport
10.8K
The chemical and physical properties of plasma membranes cause them to be selectively permeable. Since plasma membranes have both hydrophobic and hydrophilic regions, substances need to be able to transverse both regions. The hydrophobic area of membranes repels substances such as charged ions. Therefore, such substances need special membrane proteins to cross a membrane successfully. In facilitated transport, also known as facilitated diffusion, molecules and ions travel across a...
10.8K
01:21Distributed Loads: Problem Solving
609
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
609
01:14Active Transport
408
Active transport is a critical biological process that allows cells to move solutes against an electrochemical gradient. This process requires direct energy input and is characterized by its selectivity, saturability, and susceptibility to competitive inhibition.
Primary active transporters, like Na+, K+ and -ATPase, directly utilize ATP to move ions across the membrane. These transporters play significant roles in various physiological processes. For instance, Na+, K+ and -ATPase maintain...
Primary active transporters, like Na+, K+ and -ATPase, directly utilize ATP to move ions across the membrane. These transporters play significant roles in various physiological processes. For instance, Na+, K+ and -ATPase maintain...
408
01:32Secondary Active Transport
6.7K
One example of how cells use the energy contained in electrochemical gradients is demonstrated by glucose transport into cells. The ion vital to this process is sodium (Na+), which is typically present in higher concentrations extracellularly than in the cytosol. Such a concentration difference is due, in part, to the action of an enzyme "pump" embedded in the cellular membrane that actively expels Na+ from a cell. Importantly, as this pump contributes to the high concentration of...
6.7K