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AI-Robot Platform for Scientific Exploration

Murilo Marques Marinho, Juan José Quiroz-Omaña, and Kanako Harada.

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How to cite us
Check out our paper at the ArXiv version. 
@misc{aiscienceplatform2022,
  title = {Design and Validation of a Multi-Arm Robotic Platform for Scientific Exploration},
  author = {Marques Marinho, Murilo and Quiroz-Oma\~na, Juan Jos\'e and Harada, Kanako},
  doi = {10.48550/ARXIV.2210.11877},
  url = {https://arxiv.org/abs/2210.11877},
  year = {2022},  
  }
Exhibition on IROS 2022

Real Platform

The robotic system is composed of four branches able to independently rotate about a circular rail. Furthermore, each branch is composed of a serial manipulator mounted on a linear actuator that moves back-and-forth in the direction of the center of the rail.

Easy VFI Descriptions

Definitions of (self) collision-avoidance constraints by means of the VFI framework. The constraints are implemented using geometric primitives on CoppeliaSim and a configuration file.