TY - GEN
T1 - MCROS
T2 - 21st International Conference on Networking, Sensing and Control, ICNSC 2024
AU - Wang, Weitian
AU - Przedworska, Zofia
AU - Parron, Jesse
AU - Lyons, Maxim
AU - Zhu, Michelle
AU - Tuininga, Amy
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Collaborative robots play a significant role in the Industry 5.0 revolution. In this work, we present the development of a new dual-arm all-terrain Multimodal Collaborative Robot System (MCROS), which has dynamic decision-making capabilities in addition to a physical capacity to be controlled and directed for human-centered tasks. MCROS consists of two UR10e collaborative robots, an all-terrain mobile base, a computing and control unit, and a set of multimodal sensory systems for human-robot interaction. These sensory systems include 3D LIDARs, Force-Torque sensors, 3D/security cameras, an inertial measurement unit, and a global position system. Such a design merits a broader range of applications for MCROS. The Robot Operating System is employed for MCROS programming and control, which enables MCROS to be an open-source agent to seamlessly integrate with other cyber-physical systems in different tasks. A specification discussion of MCROS and other existing systems is illustrated. We carry out several applications and analyze the results of MCROS in different real-world work contexts. The scalability of MCROS is also discussed.
AB - Collaborative robots play a significant role in the Industry 5.0 revolution. In this work, we present the development of a new dual-arm all-terrain Multimodal Collaborative Robot System (MCROS), which has dynamic decision-making capabilities in addition to a physical capacity to be controlled and directed for human-centered tasks. MCROS consists of two UR10e collaborative robots, an all-terrain mobile base, a computing and control unit, and a set of multimodal sensory systems for human-robot interaction. These sensory systems include 3D LIDARs, Force-Torque sensors, 3D/security cameras, an inertial measurement unit, and a global position system. Such a design merits a broader range of applications for MCROS. The Robot Operating System is employed for MCROS programming and control, which enables MCROS to be an open-source agent to seamlessly integrate with other cyber-physical systems in different tasks. A specification discussion of MCROS and other existing systems is illustrated. We carry out several applications and analyze the results of MCROS in different real-world work contexts. The scalability of MCROS is also discussed.
KW - autonomous system
KW - control
KW - dual-arm
KW - human-robot collaboration
KW - multimodal
KW - robotics
KW - sensors
UR - http://www.scopus.com/inward/record.url?scp=85213360271&partnerID=8YFLogxK
U2 - 10.1109/ICNSC62968.2024.10760200
DO - 10.1109/ICNSC62968.2024.10760200
M3 - Conference contribution
AN - SCOPUS:85213360271
T3 - ICNSC 2024 - 21st International Conference on Networking, Sensing and Control: Artificial Intelligence for the Next Industrial Revolution
BT - ICNSC 2024 - 21st International Conference on Networking, Sensing and Control
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 18 October 2024 through 20 October 2024
ER -