CARE-O-BOT-RESEARCH: PROVIDING ROBUST
ROBOTICS HARDWARE TO AN OPEN SOURCE
COMMUNITY
Dipl.-Ing. Florian Weißhardt
Fraunhofer Institute for Manufacturing Engineering and Automation IPA
© Fraunhofer IPA
Outline
Objective
Care-O-bot® 3 platform
Open source hardware drivers and simulation
Remote access via web portal
Conclusion and outlook
© Fraunhofer IPA
Common needs for research and development
I want to develop
I want to develop
Functionalities
Applications
Technologies
Scenarios
Cooperation
Available functionalities
Robust and easy-to-use
robotics hardware
?
© Fraunhofer IPA
Providing Care-O-bot® 3 for different user groups
local
Fraunhofer IPA provides
Care-O-bot® 3 platform
remote
Open source drivers
Simulation models
Remote access via
web portal
simulation
© Fraunhofer IPA
Direct access, e.g.
research camps, rent,
buy
Support
Outline
Objective
Care-O-bot® 3 platform
Open source hardware drivers and simulation
Remote access via web portal
Conclusion and outlook
© Fraunhofer IPA
Care-O-bot® 3 mobile manipulation platform
Product vision,
realized in 2008
Functional design
Two-side interaction
concept
Industrial grade
components
Reliable, robust and
capable
Compact integration
Flexible system
layout
Easily extensible
© Fraunhofer IPA
Industrial grade hardware components
Light-Weight-Arm
(7 DOF)
Sensor head
(1 DOF, stereo and 3D-ToF)
Gripper
(7 DOF)
2 PT-Units
(2x 2 DOF)
Tactile sensors
Tray
(1 DOF)
Speakers
Touch screen
Computer Bay
(3-5 PCs)
Battery
Omnidirectional platform
(4x 2 DOF)
3 Laser scanners
(front, back, top of
mobile base)
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Flexible casing
For demonstration purposes or user studies
Attractive and product like
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Modular Care-O-bot® 3 system layout
Ethernet
Arm
Motor 1
MC
CAN
Firewire
Head Cameras (2)
Brick PC MPentium
USB
Schunk LWA3
Motor 2
Vision
MC
CAN
Computer
3D Sensor
Pan/Tilt Unit 4DOF
CAN
…
RS422
PC104 MPentium
Motor 7
MC
CAN
Computer
Gripper
Front/Rear Scanner
(2) SICK S300
ELMO
…
Drive 8
ELMO
Joystick
Logitech
Computer
Schunk SDH
Actuator 1
…
Actuator 7
Wireless
MC
CAN
Brick PC MPentium
Tactile
Sensors
User Interface
Schunk
Force/Torque
Sensors
USB
MC
Nokia N810
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USB
Touch Screen
Audio In/Out
Computer
Emergency Stop
Remote Emergency Stop
USB
VGA
Wrist
Wireless
(2) Schunk PW
Schunk PLR 80
Mobile Base
Manipulation
CSEM S3000
Tray
Drive 1
Brick PC MPentium
(2) AVR Pike
Remote Controller
WLAN
Desktop PC
Remote Controller
MC Lighting
Outline
Objective
Care-O-bot® 3 platform
Open source hardware drivers and simulation
Remote access via web portal
Conclusion and outlook
© Fraunhofer IPA
Layered architecture
Applications
Technologies
Components
Middleware
Drivers
Hardware
© Fraunhofer IPA
Extendable open source repository
Common “algorithm” separated
from communication
Open to support multiple robotics
frameworks, currently ROS and
OROCOS
© Fraunhofer IPA
Integration of Care-O-bot® 3 drivers with ROS
Additional
high-level
application
Additional
driver
packages
Additional
HW
© Fraunhofer IPA
ROS
high-level stacks
ROS
communication layer
ROS messages and services,
e.g. LaserScan, Image
Low-level communication to
hardware, e.g. CAN, serial, usb
Care-O-bot® driver stack
cob3
platform
sick
S300
power
cube
chain
sdh
cob3
camera
sensors
cob3
lights
cob3
battery
HW
HW
HW
HW
HW
HW
HW
Multitude of built-in components and functionalities
Applications
•
•
•
Person following
Grasp planning
Collision avoidance
New components
ROS
communication layer
•
•
•
Kinematic transformations
Grasp planning
Collision avoidance
Vision
Navigation
•
•
•
Manipulation
•
•
•
•
2D-SLAM
Path planning
Collision avoidance
Sensor fusion
Object recognition
Object segmentation
Gesture recognition
Common driver API
driver stack
© Fraunhofer IPA
simulation stack
Simulation and visualization for realistic scenarios
Single simulated components
Simulated sensors and actors, e.g.
Arm joints, hand
Cameras, laser scanners
Model of the whole robot
Kinematic and dynamic models of
hardware components
Environment modelling
© Fraunhofer IPA
Outline
Objective
Care-O-bot® 3 platform
Open source hardware drivers and simulation
Remote access via web portal
Conclusion and outlook
© Fraunhofer IPA
Remote access via web portal
Developer B
(remote)
Developer A
(local)
Internet
Web portal
Robot hardware
Project management
Development tools
Remote access to hardware
© Fraunhofer IPA
Developer C
(remote)
Sharing functionalities
© Fraunhofer IPA
Outline
Objective
Care-O-bot® 3 platform
Open source hardware drivers and simulation
Remote access via web portal
Conclusion and outlook
© Fraunhofer IPA
Conclusion
Focus on your research topics without caring about the hardware!
The Care-O-bot® research initiative offers
Care-O-bot® 3 as a high-tech research platform
Reliable, robust and capable hardware
Remote access via web portal
Direct access, e.g. research camps
Rent or buy Care-O-bot® 3
Related R&D Projects
© Fraunhofer IPA
Care-O-bot® Research schedule
2008
2009
2010
Schunk
Expert Days
Care-O-botresearch.org
RoboCup@home
German Open
Automatica
2008
iREX 2009
© Fraunhofer IPA
Care-O-bot
Info-Day
ICRA 2010
RoboCup
@home
Singapore
Thank you for your attention
Contact:
www.care-o-bot-research.org
www.ros.org/wiki/care-o-bot
© Fraunhofer IPA
Dipl.-Ing. Florian Weißhardt
[email protected]