MCROS: A Multimodal Collaborative Robot System for Human-Centered Tasks

Document Type

Conference Proceeding

Publication Date

1-1-2024

Journal / Book Title

ICNSC 2024 - 21st International Conference on Networking, Sensing and Control: Artificial Intelligence for the Next Industrial Revolution

Abstract

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 in addition to a physical capacity to be controlled and directed for human-centered tasks. MCROS consists of 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, and a global position system. Such a design merits a broader range of applications for MCROS. The Robot Operating System is employed for MCROS programming and control, which enables MCROS to be an open-source agent to seamlessly integrate with other cyber-physical systems in different tasks. A specification discussion of MCROS and other existing systems is illustrated. We carry out several applications and analyze the results of MCROS in different real-world work contexts. The scalability of MCROS is also discussed.

DOI

10.1109/ICNSC62968.2024.10760200

Journal ISSN / Book ISBN

85213360271 (Scopus)

Published Citation

W. Wang, Z. Przedworska, J. Parron, M. Lyons, M. Zhu and A. Tuininga, "MCROS: A Multimodal Collaborative Robot System for Human-Centered Tasks," 2024 International Conference on Networking, Sensing and Control (ICNSC), Hangzhou, China, 2024, pp. 1-6, doi: 10.1109/ICNSC62968.2024.10760200.

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