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SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation

Görner, Martin and Benedikt, Fabian and Grimmel, Ferdinand and Hulin, Thomas (2020) SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA), 31. Mai - 04. Jun. 2020, Paris, Frankreich.

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Abstract

Swarmrail represents a novel solution to overhead manipulation from a mobile unit that drives in an aboveground rail-structure. The concept is based on the combination of omnidirectional mobile platform and L-shaped rail profiles that form a through-going central gap. This gap makes possible mounting a robotic manipulator arm overhead at the underside of the mobile platform. Compared to existing solutions, Swarmrail enables continuous overhead manipulation while traversing rail crossings. It also can be operated in a robot swarm, as it allows for concurrent operation of a group of mobile Swarmrail units inside a single rail network. Experiments on a first functional demonstrator confirm the functional capability of the concept. Potential fields of applications reach from industry over logistics to vertical farming.

Item URL in elib:https://elib.dlr.de/133813/
Document Type:Conference or Workshop Item (Speech)
Title:SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Görner, Martinmartin.goerner (at) dlr.deUNSPECIFIED
Benedikt, FabianFabian.Benedikt (at) dlr.deUNSPECIFIED
Grimmel, Ferdinandferdinand.grimmel (at) dlr.deUNSPECIFIED
Hulin, ThomasThomas.Hulin (at) dlr.deUNSPECIFIED
Date:June 2020
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Wheeled Robots; Mobile Manipulation; Logistics; Factory of the Future, Automation
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Paris, Frankreich
Event Type:international Conference
Event Dates:31. Mai - 04. Jun. 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Görner, Martin
Deposited On:24 Jun 2020 16:40
Last Modified:24 Jun 2020 16:40

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