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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: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-06-04, Paris, Frankreich. doi: 10.1109/ICRA40945.2020.9196972. ISBN 978-172817395-5. ISSN 1050-4729.
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Official URL: https://ieeexplore.ieee.org/document/9196972
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/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation | ||||||||||||||||||||
| Authors: |
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| Date: | June 2020 | ||||||||||||||||||||
| Journal or Publication Title: | 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| DOI: | 10.1109/ICRA40945.2020.9196972 | ||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||
| ISBN: | 978-172817395-5 | ||||||||||||||||||||
| 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 Start Date: | 31 May 2020 | ||||||||||||||||||||
| Event End Date: | 4 June 2020 | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||
| 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 Apr 2024 20:37 |
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