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MoMo: An Open-Source Modular Mobile Robot Research Platform
Citation Link: https://doi.org/10.15480/882.14049
Publikationstyp
Conference Paper
Date Issued
2024
Sprache
English
TORE-DOI
Citation
25th International Conference on Material Handling, Constructions and Logistics, MHCL 2024
Contribution to Conference
Publisher
Technische Universität Wien
Mobile robots have evolved beyond transportation to serve diverse research and industrial tasks. This work addresses the need for flexible robotic platforms by introducing MoMo, a modular mobile robot featuring a mecanum drive system and a modular electrical connector. The platform supports various research modules, such as actuators and sensors, enabling experiments across multiple use cases. MoMo, implemented in ROS 2, accommodates payloads up to 105 kg and offers a cost-efficient solution compared to commercial platforms. The purpose of this work is to document the design of the modular platform and its implementation, facilitating collaboration and knowledge exchange within the robotics community. Future developments include expanding the versatility of the platform through additional top modules like mobile manipulation systems, demonstrating adaptability and practicality across diverse research domains.
Subjects
mobile robot
open-source
mecanum drive
omnidirectional robot
modular design
DDC Class
629.8: Control and Feedback Control Systems
004: Computer Sciences
621.3: Electrical Engineering, Electronic Engineering
Publication version
publishedVersion
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MoMo_An_Open_Source_Modular_Mobile_Robot_Research_Platform.pdf
Type
Main Article
Size
862.31 KB
Format
Adobe PDF