RAMBO — Robotic Anthropomorphic Manipulator for Bimanual Operations

摘要

This paper presents the development of an anthropomorphic robot designed for collaborative research alongside the Kuka LBR iiwa R820 robotic arm for the research project I-CATER. The primary objectives were designing a robust and stable robot's structure, integrating hardware using the Robot Operating System (ROS), and developing a user- friendly Human-Machine Interface. Priority was set on ensuring the structure could support two robotic arms without compromising stability or functionality. Key components include 7 Degrees of Freedom (DoF) robotic arms, Rg2 grippers, a display and a 2 DoF neck for the vision system support, resembling the human head configuration. Considerations such as size, cost, fabrication techniques, and material availability were taken into account in the structure's design. Integration into a simplified interface allows for easy manipulation without advanced programming knowledge, facilitated by the middleware ROS for modularity and future upgrades. The outcome is RAMBO - a Robotic Anthropomorphic Manipulator for Bimanual Operations - which is a valuable research platform for natural human-robot collaboration.