Sami Ylönen

WorkPartner: Interactive Human-Like Service Robot for Outdoor Applications

WorkPartner is the prototype of a lightweight human-like mobile service robot designed to work interactively with humans in an outdoor environment. The tasks are similar to those a human can do and the robot may replace or work together with him/her. Mobility is based on a hybrid system, which combines the benefits of both legs and wheels to provide good terrain negotiating capability and large velocity range on variable ground. The robot is powered by a hybrid power system with electrical actuating and energy storage in the form of gasoline. The robot is equipped with a human-like two-hand manipulator. The long-term goal is to develop an adaptive and learning robot, which can carry different tools and work interactively with humans. The user or operator can be physically present on the same site as the robot and communicate with it by using speech and gestures, or he can use telepresence from a distant place and communicate via the Internet. In each case, communication takes place via a new type of user interface based on multimedia and cognition. In this paper we describe the mechatronic structure, the functional subsystems and motion control principles of the robot, as well as discuss the challenges of the development project.

WorkPartner - centaur like service robot

WorkPartner is the prototype of a lightweight mobile service robot designed to work interactively with humans in outdoor environment. The mobility is based on a hybrid system, which combine benefits of both legged and wheeled locomotion to provide at the same time good terrain negotiating capability and large velocity range. The working tool is a two-hand human like manipulator which can be used for manipulation or handling of tools. The robot is called WorkPartner, because the goal is to make an adaptive and learning robot, which can carry different tools and work interactively with a human. The user or operator can be physically present on the same site as the robot and communicate with it by using speech and gestures, or he can use telepresence from a distance place and communicate via Internet. In each case communication takes place via a new type of user interface based on multimedia and cognition.

Biomimicing motion control of the WorkPartner robot

WorkPartner (WP), is the prototype of a mobile centaur‐like service robot designed to work interactively with humans in an outdoor environment. It moves using four wheeled legs and has a human‐like upper body. Tasks executed by the robot are similar to those that a human can do; the robot may replace or work together with people. Mobility is based on a hybrid system, which combines the benefits of both legs and wheels to provide good terrain negotiating capability and a large velocity range on variable ground. The robot is powered by a hybrid power system with electrical actuation and energy storage in the form of gasoline. The robot is equipped with a human‐like two‐hand manipulator. The long‐term goal is to develop an adaptive and learning robot, which can carry tools and work interactively with humans.

Mechatronics Structure of the Centaur Like Wheeled Service Robot

Abstract WorkPartner is a new type of lightweight robotic working machine designed mainly for outdoor use. Mobility is based on a hybrid system, which combines benefits of both legged and wheeled locomotion. This system provides good terrain negotiating capability and a large velocity range. The working tool has two hands, like human, which can be used for the manipulation of or handling of tools. The robot is called WorkPartner because the goal is to make an adaptive and learning robot that can carry different tools and work interactively with a human.

Interactions between Human and Robot - Case Study: WorkPartner-robot in the ISR 2004 Exhibition

WorkPartner is a mobile interactive service robot designed for lightweight outdoor tasks in co-operation with humans. WorkPartner participated in the ISR 2004 (35 th International Symposium on Robotics) exhibition on CLAWAR stand in Paris 22 – 26 March 2004. During the five days a lot of information was collected about human-machine interaction. The robot communicated with humans using speech and gestures, and observed environment using vision system. The visitors seemed to get a very humane impression of the robot.

Koordination von Lokomotion und Manipulatorbewegung des Roboters WorkPartner

Die Koordination der Bewegungssteuerung von Plattform und Manipulatoren ist ein zentrales Problem bei der Entwicklung mobiler Roboter. Diese Arbeit stellt eine mogliche Losung vor, die auf einem reaktiven, manipulatorzentrierten Ansatz beruht. Dabei werden zusatztliche Freiheitsgrade wie Oberkorperbewegung oder Beinstreckung sowie typische nichtholonome Eigenschaften der Plattform berucksichtigt. Weiterhin stehen Moglichkeiten zur Verfugung, um die Koordination der Plattformbewegung uber wenige Parameter an gegebene Aufgaben anzupassen. Als Versuchsplattform dient der Roboter Work-Partner, ein mobiler Serviceroboter mit hybridem Antriebskonzept und zwei Manipulatorarmen, der interaktiv mit dem Menschen auch im Freien zusammenarbeiten soll. Einige Experimente werden vorgestellt, die die Funktionalitat des Ansatzes praktisch untersu chen sollen.