Mobile Robot for Telepresence Applications: Design, Construction, and Programming

Mateo Mendieta, Pablo Quichimbo, Fredy Rivera, Juan Marcos Toibero, Julio Montesdeoca

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This work presents a differential drive mobile robot design for telepresence applications. It consists on two independent wheels, which are driven by a brushless motor equipped with Hall effect current sensors for low-level control. Each motor has an associated PID velocity controller. The robot also includes a lidar sensor and a RGB-D camera to improve the environment perception. Several algorithms are included in the main Raspberry Pi 4 central processor working under ROS framework. However, the main control level incorporates a solution for the person following task and a video streaming software to allow telepresence. The robot can be also teleoperated by means of an external joystick. The user interface is based on a touch screen to allow the control and configuration of the different modules. Regarding the mechanical design, the robot consists on several segments built on carbon steel, aluminum, and 3d printing.

Original languageEnglish
Title of host publication2021 19th Workshop on Information Processing and Control, RPIC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665414364
DOIs
StatePublished - 2021
Event19th Workshop on Information Processing and Control, RPIC 2021 - San Juan, Argentina
Duration: 3 Nov 20215 Nov 2021

Publication series

Name2021 19th Workshop on Information Processing and Control, RPIC 2021

Conference

Conference19th Workshop on Information Processing and Control, RPIC 2021
Country/TerritoryArgentina
CitySan Juan
Period3/11/215/11/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

  • Robot Movil
  • Seguimiento de personas
  • Telepresencia

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