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

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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución de conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2021 19th Workshop on Information Processing and Control, RPIC 2021
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665414364
DOI
EstadoPublicada - 2021
Evento19th Workshop on Information Processing and Control, RPIC 2021 - San Juan, Argentina
Duración: 3 nov. 20215 nov. 2021

Serie de la publicación

Nombre2021 19th Workshop on Information Processing and Control, RPIC 2021

Conferencia

Conferencia19th Workshop on Information Processing and Control, RPIC 2021
País/TerritorioArgentina
CiudadSan Juan
Período3/11/215/11/21

Nota bibliográfica

Publisher Copyright:
© 2021 IEEE.

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