designing high performance deployable robots for built

DesigningHighPerformanceDeployableRobotsforBuiltEnvironments

MohanRajeshElaraEngineeringProductDevelopmentPillar

SingaporeUniversityofTechnologyandDesignEmail:rajeshelara@sutd.edu.sg

RobotErgonomics

…anewfieldofstudyinvolvingsystematicformulationofdesignmethods,techniques,and

toolstargetingrobotinclusivespacesandproducts.

Self-reconfigurableRobotics

...anewclassofrobotsthatpossessabilitytoautonomouslyadapttheirmorphologiesto

overcomecomplexitiesposedbytheenvironment.

Research Overview

HighPerformanceDeployableRobots

DesignPrinciples

RobotErgonomicsCompetition

FurnitureBenchmarking

Scorpio vTetro

VeSuRo

hTetro Self-reconfigurationPlanner

hTetro:ASelf-reconfigurableFloorCleaningRobot

FloorCleaningRobotMarket

Floor Cleaning: The Context

hTetro: Simulation

hTetro: Prototype

An 8×8 chessboard can be tiled with no fault lines by L-tetromino

Tetris Tiling Theory

hTetro: Application of Tetris Tiling Theory

sTetro: Simulation

sTetro: Prototype

Intra-reconfigurablerobotmechanisms

Twobroadclasses:

Metamorphichand,KCL

Scorpio,SUTDInter-reconfigurablemodularrobots

Uni-Rover,TIT

M-TranII,TIT-AIST

Miche,MIT

Reconfigurable Robotics: Taxonomy

Intra-reconfigurablerobotmechanisms

Twobroadclasses:

Inter-reconfigurablemodularrobots

Uni-Rover,TIT

M-TranII,TIT-AIST

Miche,MIT

Metamorphichand,KCL

DoubleoctahedralVGT,IRI

Reconfigurable Robotics: Taxonomy

hTetro: A Nested Reconfigurable Platform

RobotErgonomics:DesignofRobotInclusiveSpacesandProducts

DesignofRobots

PerceivingTouchingSeeingHearing

OtherSensing

ActingManipulatingNavigatingInteracting

CollaboratingMonitoring

ApplicationMedical-Rehabilitation

ProfessionalDomestic

ManufacturingUnderwater

Aerial

UnderstandingRecognizingInterpretingAdaptingModeling

CognitiveArchitectures

Adaptationstargetingphysicallyandmentallychallenged

Withanagingworld,adaptationforelderlyistheneedoftheday

Designedspacesforchildrenisbecomingmorecommon

Ning Tan, R. E. Mohan, and A. Watanabe. "Toward a framework for robot-inclusive environments." Automation inConstruction 69 (2016): 68-78.

Robot Ergonomics: A Design Initiative

InductiveStudies

Deriving Design Principles: An Inductive Approach

Mohan, R. E., Rojas, N., Seah, S., & Sosa, R. (2013, August). Design principles for robot inclusive spaces. In DS 75-4:Proceedings of the 19th International Conference on Engineering Design (ICED13), Design for Harmonies, Vol. 4: Product,Service and Systems Design, Seoul, Korea, 19-22.08. 2013.

Benchmarking Furniture

ChairNo. %CleanedArea1 64.562 78.473 78.924 79.035 80.216 80.87 83.398 84.339 84.5310 84.6811 86.0712 86.8113 87.4414 89.3115 90.0116 90.0317 90.1918 91.819 91.9620 92.0321 92.4522 92.66

Tan, N., Mohan, R. E., Wong, Y. Y., & Sosa, R. (2015, August). Robot ergonomics: A case study of chair design for Roomba.In Robot and Human Interactive Communication (RO-MAN), 2015 24th IEEE International Symposium on (pp. 246-251). IEEE.

Robot Inclusive Space Challenge

Mohan, R. E., Rojas, N., Sosa, R., & Kaisner, J. (2013, November). Robot Inclusive Space challenge: A design initiative. In 2013 6thIEEE Conference on Robotics, Automation and Mechatronics (RAM) (pp. 73-78). IEEE.

ThankYou!