Design of the Chassis and Locomotion System for a Mobile Robot

Abstract

MARVIN, the Mobile Autonomous Robotic Vehicle for Indoor Navigation, has undergone a comprehensive transformation. It evolved from a state where essential components were missing, including the drive platform, and central controller. The project's re-use goal focused on integrating existing electronics to fulfil essential functions such as power supply, interfacing with the torso actuators, and sensor integration, and using motors and wheels from a prior implementation. Additionally, an Intel NUC computer running ROS2 was integrated to enable precise control through the use of rotary encoders and a dual-channel motor driver with regenerative braking capabilities. In the software domain, MARVIN's development involved creating dedicated ROS2 nodes for motor control, torso management, and sensor interaction. Notably, the project encountered a challenge with the sensor board due to the absence of available documentation and original code. Consequently, the project required the development of basic firmware based on available datasheets to facilitate its seamless integration. An abstraction layer was introduced to streamline message publication, enhancing adaptability. MARVIN now stands as a versatile platform, poised for applications in security and human-robot interaction research. It encapsulates the project's commitment to advancing robotics technology while showcasing dedication to sustainability through the re-use of existing electronics. This valuable platform offers numerous possibilities for innovation and experimentation across various domains.