TY - GEN
T1 - Mobile Robot for Telepresence Applications
T2 - 19th Workshop on Information Processing and Control, RPIC 2021
AU - Mendieta, Mateo
AU - Quichimbo, Pablo
AU - Rivera, Fredy
AU - Toibero, Juan Marcos
AU - Montesdeoca, Julio
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
KW - Robot Movil
KW - Seguimiento de personas
KW - Telepresencia
UR - https://www.scopus.com/pages/publications/85124129993
U2 - 10.1109/RPIC53795.2021.9648444
DO - 10.1109/RPIC53795.2021.9648444
M3 - Contribución a la conferencia
AN - SCOPUS:85124129993
T3 - 2021 19th Workshop on Information Processing and Control, RPIC 2021
BT - 2021 19th Workshop on Information Processing and Control, RPIC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 3 November 2021 through 5 November 2021
ER -