Session: 16-01-01: Government Agency Student Poster Competition

Paper Number: 150367

150367 - Mcros: A Dual-Arm All-Terrain Multimodal Collaborative Robot System for Human-Centered Tasks 

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 and the physical capacity to be controlled and directed for human-centered tasks. The MCROS comprises 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 (IMU), and a global positioning system (GPS). Such a design allows for a broader range of applications for the MCROS. The Robot Operating System (ROS) is employed for the MCROS programming and control, enabling the MCROS to be an open-source agent that integrates seamlessly with other cyber-physical systems in different tasks. A specification comparison of the MCROS and other existing systems is illustrated. We implemented the MCROS in several applications and analyzed the results in different real-world work contexts.

The increased use of artificial intelligence (AI)-embedded systems and smart sensors in robots correlates with higher integration of humans and robots in the workplace. As human-robot collaborative situations become increasingly complex, robotic systems need to adapt to meet evolving tasks and specialized needs for consumers and manufacturers. For instance, in interactions where objects are passed between a human and a robot collaborator, the use of multimodal sensing systems and multiple arms helps to avoid accidents and allows for increased mobility and efficiency. The embedding of AI into a robot system enhances the robot's operational capacity to analyze situations and then derive the best course of action needed to complete tasks. In conjunction with a sophisticated computing system, a robot’s array of capabilities broadens as it is equipped with sensors that allow it to function in a multitude of environments. These challenges and requirements motivate us to develop a new dual-arm all-terrain multimodal collaborative robot system (MCROS) for human-centered tasks. The MCROS can be controlled locally and remotely in two modes. ROS was implemented in the MCROS programming and control, which empowers the MCROS to be an open-source agent that seamlessly integrates and works with other cyber-physical systems in diverse tasks. The remote controller of the MCROS can be controlled by a human operator using the onboard computing and control unit. To teleoperate the MCROS, a ROS package was developed on a Linux distribution named Ubuntu. Simulation software, such as Rviz, MoveIt, etc., are configured through the Linux terminal and the ROS framework. ROS is also used for building a matrix of ROS nodes and ROS topics to correspond to the various sensors and multitude of functions of the MCROS. Together, merging the control module and the MCROS hardware allows the user to virtually interact with the robot system and remotely operate it through a computer via teleoperation, or through a remote controller. A specification comparison of the MCROS and other existing systems was elaborated in this paper. We also presented several applications and analyzed the results of the MCROS in different real-world human-robot interactive contexts. The flexibility of the MCROS reflects the continuously changing and dynamic state of cooperation between humans and robots. Existing technologies enable collaborative robots to integrate AI into their systems and adapt to spontaneous changes. In addition, the design of the MCROS grants a broader spectrum of applications compared to other existing mobile manipulators. With the unlocking of new functions and skills for the MCROS, it will be scaled to more kinds of tasks in human-centered collaborative contexts.

Presenting Author: Maxim Lyons Montclair State Unviersity

Presenting Author Biography: At Montclair State University, my role as Associate Lab Manager in the Collaborative Robotics and Smart Systems Laboratory (CRoSS Lab) involves pioneering research in robotics, funded by the National Science Foundation. Our team collaborates with advanced technologies like the ClearPath's Husky and the Franka Emika Research 3, pushing the boundaries of Computer Vision, Autonomous Navigation, and AI for the betterment and safety of humans working with collaborative robotics.

Authors:

Maxim Lyons Montclair State Unviersity
Weitian Wang Montclair State University