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Intelligent Service Robotics
Published in: Intelligent Service Robotics 2/2014

01-04-2014 | Special Issue

Iterative design of a semi-autonomous social telepresence robot research platform: a chronology

Authors: Katherine M. Tsui, Adam Norton, Daniel J. Brooks, Eric McCann, Mikhail S. Medvedev, Jordan Allspaw, Sompop Suksawat, James M. Dalphond, Michael Lunderville, Holly A. Yanco

Published in: Intelligent Service Robotics | Issue 2/2014

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Abstract

Our research focuses on how a telepresence robot operator, the people with the robot, and the robot itself collaborate so that the operator reaches his/her intended destination. Our research requires higher levels of autonomous navigation so that the robot can, for example, go to a specified destination and follow a person. However, commercial telepresence robots are primarily teleoperated, and only a few provide assisted navigation around obstacles. Our system must include sensors and processing to enable these capabilities. We present the chronology of our iterative design for augmenting two VGo Communications’ VGo robots, Hugo and Margo, over a period of 3 years. We detail the requirements and design constraints encountered while developing our telepresence robot platforms.
previous article Precise truss assembly using commodity parts and low precision welding

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Footnotes
1
Synthesized from [47, 52‐54] and our own robot use.
 
2
It should be noted that some material properties and features of the VGo robot have changed since our first use in [47]. The VGo base platforms for Hugo and Margo were acquired in Fall 2010 and Fall 2011, respectively. Specifically, Hugo and Margo had only one WiFi card and do not support 4G. Also, their plastic bodies were stronger than the alpha prototypes used in [47], and Margo’s drive wheels featured a softer rubber.
 
3
Property of VGo Communications; used with permission.
 
4
VGo Communications replaced the drive wheels with stiffer rubber ones from an earlier revision.
 
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Metadata
Title
Iterative design of a semi-autonomous social telepresence robot research platform: a chronology
Authors
Katherine M. Tsui
Adam Norton
Daniel J. Brooks
Eric McCann
Mikhail S. Medvedev
Jordan Allspaw
Sompop Suksawat
James M. Dalphond
Michael Lunderville
Holly A. Yanco
Publication date
01-04-2014
Publisher
Springer Berlin Heidelberg
Published in
Intelligent Service Robotics / Issue 2/2014
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-014-0148-8

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