Faculty Advisor

Berenson, Dmitry

Faculty Advisor

Fischer, Gregory S.

Abstract

This project dealt with a Segway RMP, utilizing it in an assistive-technology manner, encompassing navigation and manipulation aspects of robotics. First, background research was conducted to develop a blueprint for the robot. The hardware, software, and configuration of the RMP was updated, and a robotic arm was designed to extend the RMP’s capabilities. The robot was programmed to accomplish autonomous multi-floor navigation through the use of the navigation stack in ROS, image detection, and a GUI. The robot can navigate through the hallways of the building utilizing the elevator. The robotic arm was designed to accomplish tasks such as pressing a button and picking an object up off of a table. The Segway RMP is designed to be utilized and expanded upon as a robotics research platform.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2014

Major

Mechanical Engineering

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

Advisor Department

Mechanical Engineering

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