Technical Report of Mobile Manipulator Robot for Industrial Environments

TL;DR

This paper presents a mobile manipulator robot designed for industrial environments, featuring advanced navigation, object detection, and manipulation capabilities tailored for efficiency and safety in challenging settings.

Contribution

The report introduces a novel industrial robot with integrated omnidirectional movement, custom electronics, and real-time perception software for improved automation tasks.

Findings

Successful implementation of Hector SLAM for mapping

Effective use of YOLO for object detection

Omnidirectional navigation with Mecanum wheels

Abstract

This paper describes Auriga's @Work team and their robot, developed at Shahid Beheshti University Faculty of Electrical Engineering's Robotics and Intelligent Automation Lab for RoboCup 2024 competitions. The robot is designed for industrial tasks, optimizing efficiency in repetitive or hazardous environments. It features a 4-wheel Mecanum system for omnidirectional movement and a 5-degree-of-freedom manipulator arm with a 3D-printed gripper for object handling and navigation. The electronics include custom boards with ESP32 microcontrollers and an Nvidia Jetson Nano for real-time control. Key software components include Hector SLAM for mapping, A* path planning, and YOLO for object detection, supported by integrated sensors for enhanced navigation and collision avoidance.