Mobile manipulation robot for international robotics competition

Authors: Anisimov R.O., Bakaev V.S., Bakhov T.B., Goloburdin N.V., Marchuk A.M., Mostakov N.A.
Published in issue: #11(52)/2020
DOI: 10.18698/2541-8009-2020-11-656
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: mobile manipulation robot, RoboCup, RoboCup@Work, Bauman Robotics Club, state machine, navigation, technical vision, RealSense, manipulator
Published: 08.12.2020

The article is devoted to the experience of the participation of BMSTU students team in the RoboCup robotics championship in the RoboCup@Work nomination. This championship is one of the most prestigious student events in which universities from all over the world take part. This nomination is aimed at imitating the actions of a robot in a warehouse. The main tasks lie in the area of navigation and object manipulation. A description of the main subsystems of a mobile manipulation robot is given: a navigation system, a vision system based on a combination of deep learning algorithms and classical methods of image processing, a manipulation system and a finite state machine.

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