An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns
Abstract This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Moha...
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doaj-5de815ee78314c6b98a1a7bb974bb8b22021-04-18T11:20:39ZengSpringerSN Applied Sciences2523-39632523-39712021-04-013511410.1007/s42452-021-04506-7An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patternsMeysam Basiri0João Gonçalves1José Rosa2Alberto Vale3Pedro Lima4Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de LisboaInstitute for Systems and Robotics, Instituto Superior Técnico, Universidade de LisboaInstitute for Systems and Robotics, Instituto Superior Técnico, Universidade de LisboaInstituto de Plasmas e Fusão Nuclear, Instituto Superior Técnico, Universidade de LisboaInstitute for Systems and Robotics, Instituto Superior Técnico, Universidade de LisboaAbstract This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, to demonstrate the novel real-world application of constructing structures using teams of robots, showcasing once again the role of major scientific competitions in advancing the state of the art towards exploring solutions to open problems. The paper presents in detail the hardware and software architectures of the developed mobile manipulator, integrating different research results and developments into a functional complex robot system, while proposing methods to detect, approach and manipulate differently sized/colored bricks to build a wall of predefined pattern given to the robot just before the building task starts. Article Highlights Full system description of an autonomous mobile manipulator for construction tasks tested in a realistic setting Algorithms for detection, localization, picking and placement of heterogeneous building blocks to form large structures Versatile service robot capable of smooth adaptation to other functions developed through scientific robot competitionshttps://doi.org/10.1007/s42452-021-04506-7Autonomous mobile manipulatorUnmanned ground vehicleBrick-shaped object detectionMBZIRC competitionOutdoor object perception and manipulationIndustrial automation and construction |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Meysam Basiri João Gonçalves José Rosa Alberto Vale Pedro Lima |
spellingShingle |
Meysam Basiri João Gonçalves José Rosa Alberto Vale Pedro Lima An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns SN Applied Sciences Autonomous mobile manipulator Unmanned ground vehicle Brick-shaped object detection MBZIRC competition Outdoor object perception and manipulation Industrial automation and construction |
author_facet |
Meysam Basiri João Gonçalves José Rosa Alberto Vale Pedro Lima |
author_sort |
Meysam Basiri |
title |
An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns |
title_short |
An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns |
title_full |
An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns |
title_fullStr |
An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns |
title_full_unstemmed |
An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns |
title_sort |
autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns |
publisher |
Springer |
series |
SN Applied Sciences |
issn |
2523-3963 2523-3971 |
publishDate |
2021-04-01 |
description |
Abstract This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, to demonstrate the novel real-world application of constructing structures using teams of robots, showcasing once again the role of major scientific competitions in advancing the state of the art towards exploring solutions to open problems. The paper presents in detail the hardware and software architectures of the developed mobile manipulator, integrating different research results and developments into a functional complex robot system, while proposing methods to detect, approach and manipulate differently sized/colored bricks to build a wall of predefined pattern given to the robot just before the building task starts. Article Highlights Full system description of an autonomous mobile manipulator for construction tasks tested in a realistic setting Algorithms for detection, localization, picking and placement of heterogeneous building blocks to form large structures Versatile service robot capable of smooth adaptation to other functions developed through scientific robot competitions |
topic |
Autonomous mobile manipulator Unmanned ground vehicle Brick-shaped object detection MBZIRC competition Outdoor object perception and manipulation Industrial automation and construction |
url |
https://doi.org/10.1007/s42452-021-04506-7 |
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