NCCR Robotics

NCCR Robotics

Intelligent Robots for Improving the Quality of Life The National Centre of Competence in Research (NCCR) Robotics is a Swiss nationwide organisation funded by the Swiss National Science Foundation… Read more

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Cutting Down the Energy Consumed by Domestic Robots: Insights from Robotic Vacuum Cleaners

  • Authors: Vaussard, Florian Christopher; Rétornaz, Philippe; Hamel, David; Mondada, Francesco

The market of domestic service robots, and especially vacuum cleaners, has kept growing during the past decade. According to the International Federation of Robotics, more than 1 million units were sold worldwide in 2010. Currently, there is no in-depth analysis of the energetic impact of the introduction of this technology on the mass market. This topic is of prime importance in our energy-dependant society. This study aims at identifying key technologies leading to the reduction of the energy consumption of a domestic mobile robot, by exploring the design space using technologies issued from the robotic research field, such as the various localization and navigation strategies. This approach is validated through an in-depth analysis of seven vacuum cleaning robots. These results are used to build a global assessment of the influential parameters. The major outcome is the assessment of the positive impact of both the ceiling-based visual localization and the laser-based localization approaches.

Posted on: May 31, 2012

Lessons Learned from Robotic Vacuum Cleaners Entering in the Home Ecosystem

  • Authors: Vaussard, Florian Christopher; Fink, Julia; Bauwens, Valérie; Rétornaz, Philippe; Hamel, David; Dillenbourg, Pierre; Mondada, Francesco

This article considers the suitability of current robots designed to assist humans in accomplishing their daily domestic tasks. With several million units sold worldwide, robotic vacuum cleaners are currently the figurehead in this field. As such, we will use them to investigate the following key question: How does a service cleaning robot performs in a real household? One must consider not just how well a robot accomplishes its task, but also how well it integrates inside the user’s space and perception. We took a holistic approach to addressing these topics by combining two studies in order to build a common ground. In the first of these studies, we analyzed a sample of seven robots to identify the influence of key technologies, like the navigation system, on technical performance. In the second study, we conducted an ethnographic study within nine households to identify users’ needs. This innovative approach enables us to recommend a number of concrete improvements aimed at fulfilling users’ needs by leveraging current technologies to reach new possibilities.

Posted on: June 28, 2013

Lessons learned from robotic vacuum cleaners entering the home ecosystem

  • Authors: Vaussard, F.; Fink, J.; Bauwens, V.; Retornaz, P.; Hamel, D.; Dillenbourg, P.; Mondada, F.

This article considers the suitability of current robots designed to assist humans in accomplishing their daily domestic tasks. With several million units sold worldwide, robotic vacuum cleaners are currently the figurehead in this field. As such, we will use them to investigate the following key question: How does a service cleaning robot perform in a real household? One must consider not just how well a robot accomplishes its task, but also how well it integrates inside the user’s space and perception. We took a holistic approach to addressing these topics by combining two studies in order to build a common ground. In the first of these studies, we analyzed a sample of seven robots to identify the influence of key technologies, such as the navigation system, on technical performance. In the second study, we conducted an ethnographic study within nine households to identify users’ needs. This innovative approach enables us to recommend a number of concrete improvements aimed at fulfilling users’ needs by leveraging current technologies to reach new possibilities. (C) 2013 Elsevier B.V. All rights reserved.

Posted on: May 2, 2014

Minimalistic Models of an Energy Efficient Vertical Hopping Robot

  • Authors: Yu, Xiaoxiang; Iida, Fumiya

The use of free vibration in elastic structure can lead to energy efficient robot locomotion, since it significantly reduces the energy expenditure if properly designed and controlled. However, it is not well understood how to harness the dynamics of free vibration for the robot locomotion, because of the complex dynamics originated in discrete events and energy dissipation during locomotion. From this perspective, the goal of this paper is to propose a design strategy of hopping robot based on elastic curved beams and actuated rotating masses, and identify the minimalistic model that can characterize the basic principle of robot locomotion. Since the robot mainly exhibits vertical hopping, three one-dimensional models are examined that contain different configurations of simple spring-damper-mass components. The real-world and simulation experiments show that one of the models best characterizes the robot hopping, through analyzing the basic kinematics and negative works in actuation. Based on this model, the self-stability of hopping motion under disturbances is investigated and design and control parameters are analyzed for the energy efficient hopping. Additionally, further analyses show that this robot can achieve the energy efficient hopping with the variation in payload, and the source of energy dissipation of the robot hopping is investigated.

Posted on: September 9, 2013