Sviluppo modulare di robot: dal Robot Rapid Prototyping a Nova Core
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Modular development of service robots From Rapid Robot Prototyping to Nova Core Matteo Matteucci Dept. of Electronics, Information and Bioengineering [email protected]
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Transcript of Sviluppo modulare di robot: dal Robot Rapid Prototyping a Nova Core
Modular development of service robots
From Rapid Robot Prototyping to Nova Core
Matteo MatteucciDept. of Electronics, Information and Bioengineering
« Here are my jewels » (*)
(*) Cornelia Scipionis Africana (190 – 100 BC)
Robotics research needs a robot …
• Physical platform (i.e., mechanics, electronics)+ Software components (e.g., localization, …)
• Most of time spent in trying to cope with engineering problems (Integration? Hacking?)
• Little resources left for Research/Innovation
We would like standardized approaches to:
• Mechatronic modules and components• SW integration and components reuse• Development tools and libraries• Communication protocols …
ROS and friends are noticeable examples in the software domain …
Why modular robotics?
How can we help people, and ourselves, build and move these new robot platforms in 2 days?
Push modularity as much as possible, at the level of control loops too!
A modular framework for rapid robot prototyping
Rapid Robot Prototyping Aim
Rapid Robot Prototyping in a nutshell
Rapid Robot Prototyping approach• Open source schematics, layouts, and code • Massive HW/SW component reuse• Real-time publish/subscribe over CAN bus • Seamless integration with ROS
R2P: Distributed Framework
R2P: Real-Time Communication
R2P: Publish/Subscribe Middleware
R2P: ROS Native Support
Tilty R2P Architecture
Triskar2 R2P Architecture
R2P Modules• 3 x DC Motor Ctrl• 1 x Power Supply • 1 x Proximity Sensors• 1 x Ethernet Gateway
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Triskar2 R2P Architecture
RoboCom R2P Architecture
RoboCom R2P Architecture
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R2P
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R2P Modules• 2 x DC Motor Ctrl• 1 x Power Supply • 1 x Inertial Meas. Unit• 1 x Ethernet Gateway
• Common requirements implemented byoff-the-shelf HW/SW components
• Distributed control architecture with real-time publish/subscribe communication
• Open source HW/SW with 12+ modules
Robotics made easy!
From R2P to Nova Core
Hardware Modularity and Beyond
Program
Control your robot without needing complex skills
Integrate
From a single prototype to thousands of units
Select
Ready to use components for robot development
A&T - H42
Modular development of service robots
From Rapid Robot Prototyping to Nova Core
Matteo MatteucciDept. of Electronics, Information and Bioengineering
