This Major Qualifying Project (MQP) aims to integrate a bimanual mobile manipulator robot (“Gopher”) for nursing assistance. To this end, we developed a motorized supporting structure to integrate seven-degrees-of-freedom (DOFs) manipulator robots (Kinova Gen3) with a nonholonomic mobile base (Freight research platform). The motorized supporting structure can be controlled as an additional DOF to significantly improve the robot’s reachability and manipulability when mobile manipulation tasks are performed in cluttered patient rooms. We further integrated virtual reality (VR) human-robot interfaces (Oculus Quest, with head-mounted display and hand-held controllers) to support the intuitive robot control and visual display. The project involves the efforts for: 1) hardware design, manufacturing and assembly; 2) developing Unity- and ROS-based software architecture; 3) integration of VR human-robot interfaces, and 4) pilot user studies to test the system usability for mobile manipulation.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Nguyen, Hoang
• Joseph, Yveder
• Iyengar, Maanav

Subject

• Innovation
• Learning
• Health

Publisher

• Worcester Polytechnic Institute

Identifier

• 105546
• E-project-042623-183609

Advisor

• Li, Jane
• Islam, Bashima

Year

• 2023

Date created

• 2023-04-26

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering
• Robotics Engineering

Source

• E-project-042623-183609

Rights statement

• In Copyright

Zuletzt geändert

• 2023-06-21